WO2017074092A1 - Module de sortie optique, véhicule le comprenant, et son procédé de commande - Google Patents

Module de sortie optique, véhicule le comprenant, et son procédé de commande Download PDF

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Publication number
WO2017074092A1
WO2017074092A1 PCT/KR2016/012232 KR2016012232W WO2017074092A1 WO 2017074092 A1 WO2017074092 A1 WO 2017074092A1 KR 2016012232 W KR2016012232 W KR 2016012232W WO 2017074092 A1 WO2017074092 A1 WO 2017074092A1
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WO
WIPO (PCT)
Prior art keywords
scan area
light
area
rate
scanning
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PCT/KR2016/012232
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English (en)
Korean (ko)
Inventor
정재욱
문영섭
이창혁
Original Assignee
엘지이노텍(주)
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Application filed by 엘지이노텍(주) filed Critical 엘지이노텍(주)
Priority to US15/771,924 priority Critical patent/US10676057B2/en
Priority claimed from KR1020160141697A external-priority patent/KR102682459B1/ko
Publication of WO2017074092A1 publication Critical patent/WO2017074092A1/fr
Priority to US16/867,724 priority patent/US11390229B2/en

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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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S7/481—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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • 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

Definitions

  • Embodiments relate to a light output module, a vehicle including the same, and a control method thereof.
  • LiDAR Light Detection and Ranging
  • FIG. 1 is a view showing an appearance 10 of a general light output module.
  • the general light output module 10 emits a beam emitted from a plurality of light sources (not shown) toward an object in various directions using a motor (not shown), and uses a detector. To receive the back light.
  • the portion transmitting the plurality of beams 12 is mechanically moved by the rotational movement by the motor may be accompanied with various restrictions. That is, it is not easy to secure mechanical reliability of the motor part, and there is a limit in reducing the size of the light output module 10 due to the use of a motor, and it may be difficult to secure a scanning rate for a specific area.
  • a plurality of light sources and detectors are required to extend the measurement range in the vertical direction.
  • a condenser lens is required in a light receiving unit of a general light output module, efficiency may be degraded and there is a limit in obtaining various information.
  • the light output module of the embodiment may be installed in a vehicle to provide unmanned autonomous driving of the vehicle.
  • unmanned autonomous driving is a technology that drives itself to the destination by controlling steering, shifting, acceleration, and brakes according to the surrounding environment based on recognition devices such as sensors and cameras and automatic navigation devices such as GPS modules.
  • the position of an obstacle located in front of or behind the driving car should be determined.
  • the light output module installed and used in a vehicle has a problem in that it is not possible to adjust the scanning rate or to perform a proper driving according to the driving situation due to the limitation of the driving method. For example, when a car is traveling at a high speed, the distance resolution of a region of interest is greatly reduced, resulting in a decrease in resolution of location information of other cars located in front.
  • a light detection and ranging (LiDAR) measuring device for collecting ambient information while a camera device mounted on a vehicle is driving may adjust a rotation speed of a detection direction in response to a moving speed of a vehicle.
  • the present invention provides a light output module and a vehicle capable of measuring information on an object using a laser beam.
  • the embodiment provides an optical output module and a vehicle capable of efficiently obtaining information according to state information such as driving conditions of a vehicle.
  • the embodiment includes a scan area including at least one subscan area and an optical transmitter for outputting light to scan the scan area, in order to solve the above problem, and the optical transmitter is configured to scan the scan area according to a moving speed.
  • An object of the present invention is to provide an optical output module for scanning an area with at least one scanning rate.
  • the scan area may include a high speed scan area and a low speed scan area, and the high speed scan area may be located at the center of the scan area, and the low speed scan area may include an optical output module that is an area excluding the high speed scan area from the scan area.
  • the optical transmission unit may provide an optical output module that scans at the first scanning rate when scanning the high-speed scan area and scans at the second scanning rate when scanning the low-speed scan area. do.
  • the first scanning rate is to provide a light output module larger than the second scanning rate to solve the problem.
  • the first scanning rate is 15 Hz or more, and the second scanning rate provides a light output module having a frequency of 1 Hz to 10 Hz.
  • the object of the problem is to provide an optical output module having a center angle of the high-speed scan area of at least 70 ° or more.
  • the apparatus may further include a body that provides a space for a user to settle and an optical output module disposed at a position adjacent to the body to scan peripheral information of the body, wherein the optical output module emits a plurality of beams to a scan area. And a light receiver configured to scan the scan area, and a light receiver configured to measure information about the object using the back light reflected by the emitted beam after being hit by an object located inside the scan area.
  • the scan area includes at least one subscan area, and the optical transmission unit provides a vehicle for scanning the scan area with at least one scanning rate in response to the moving speed of the body.
  • the scan area may include a high speed scan area and a low speed scan area, wherein the high speed scan area is located at the center of the scan area, and the low speed scan area is an area excluding the high speed scan area from the scan area.
  • the optical transmission unit is to provide a vehicle for scanning at the first scanning rate when scanning the high-speed scan area, and scanning at the second scanning rate when scanning the low-speed scan area as a solution to the problem.
  • the first scanning rate is to provide a vehicle larger than the second scanning rate as a means of solving the problem.
  • a vehicle control method for an autonomous vehicle includes: a vehicle vehicle equipped with a vehicle light wave detection and distance measurement device, the method comprising: cognitively measuring a rate of the vehicle vehicle; Determining whether the measured rate of the vehicle is greater than a predetermined threshold rate; Adjusting and correcting a scanning rate when the measured rate of the vehicle is greater than the threshold rate; And applying a current so that the light output module in the vehicular light wave detection and distance measuring device scans at the adjusted and corrected scanning rate.
  • the method of controlling the autonomous vehicle may further include collecting information on the object by using the back light reflected and returned after the beam emitted from the light output module hits the object located inside the scan area. have.
  • the scan area may include at least one subscan area, and the scanning rate in the subscan area may be adjusted by the rate of the vehicle.
  • the rate of the vehicle may be measured directly through the light output module, or the rate of the vehicle may be provided from the vehicle.
  • the information about the object is measured by using a light transmitting unit which scans the scan area by emitting a plurality of beams to the scan area, and a back light that is reflected after the emitted beam hits an object located inside the scan area.
  • the scan area includes at least one scan area, wherein the optical transmission unit scans the at least one scan area with at least one scanning rate
  • the embodiment may scan the entire scan area or scan of the light detection and ranging (LiDAR) measuring device in response to the traveling speed of the vehicle equipped with the light detection and ranging (LiDAR) measuring device.
  • Scanning resolution roll for the region of interest corresponding to the traveling speed of the vehicle equipped with the light output module by dividing the region into at least one subscan region and scanning the at least one subscan region at different rates (different speeds). It can increase.
  • LIDAR general light detection and ranging
  • FIG. 2 is a block diagram of a LiDAR module according to an embodiment.
  • FIG. 3 is a block diagram of another embodiment of an optical receiver in a LiDAR module according to an embodiment.
  • FIG. 4 is a light output module according to an embodiment installed in an automobile to measure light waves and measure a distance.
  • FIG. 5 is a view illustrating driving of an optical output module according to another embodiment installed in an automobile to detect light waves and measure distance.
  • FIG. 6 is a flowchart illustrating a control sequence according to a traveling speed of a vehicle when the light output module of the embodiment is installed in the vehicle.
  • relational terms such as “first” and “second,” “upper / upper / up” and “lower / lower / lower”, etc., as used below, may be used to refer to any physical or logical relationship between such entities or elements, or It may be used only to distinguish one entity or element from another entity or element without necessarily requiring or implying an order.
  • LiDAR light detection and distance
  • the LiDAR module illustrated in FIG. 2 may include an optical transmitter 110A, an optical receiver 120A, a sensing unit 130, and a driving controller 140.
  • the optical transmitter 110A emits one or more beams or a plurality of beams. In the embodiment shown in FIG. 2, a plurality of beams are emitted, but one beam may be emitted.
  • the light transmitter 110A may include a first heat sink 111, at least one light source 112, a transmission optical system 114, and a beam steering unit 118. have. It may also further include a beam splitter 116.
  • At least one light source 112 serves to emit light. If the central wavelength of the light emitted from the at least one light source 112 is greater than 2 ⁇ m, it may be not suitable for light wave detection and distance measurement because it is far infrared light. In addition, when the wavelength of the light emitted from the at least one light source 112 is smaller than 0.2 ⁇ m, the beam emitted from the light transmitting unit 110A may not only be harmful to the human body but also may be an object (or an object or material). It may be difficult to reach a remotely located object as it is absorbed by foreign matter in the air. Accordingly, the center wavelength of the light emitted from the at least one light source 112 may be 0.2 ⁇ m to 2 ⁇ m, but embodiments are not limited thereto.
  • the object may be an object floating in the air or placed on the ground, or may be a particle floating in the air.
  • Embodiments are not limited to the specific types of objects.
  • the wavelength distribution of the at least one light source 112 may be 1 ⁇ m or less.
  • the at least one light source 112 may be a pulsed light source device having a constant duty rate.
  • the on time of the pulse may be 1 nm or more.
  • the shape of the pulse may be a square wave, triangle wave, sawtooth wave, sine wave, delta function, sinc function (sinc function).
  • the period of the pulse may not be constant.
  • the at least one light source 112 may be a light source element having one or more spatial modes.
  • the spatial mode may be represented by the nth order of the Gaussian or Lambertian spatial mode, where n may be 1 or more.
  • the at least one light source 112 may be a light source element that can be expressed as a sum of linear polarization or circular polarization.
  • the ratio of the polarization components may be represented by 1: A based on one polarization component and A may be 1 or less.
  • the embodiment is not limited thereto. According to another embodiment, the number of light sources 112 may be plural. In addition, when the at least one light source 112 includes a plurality of light sources, the types of the plurality of light sources may be all the same or different.
  • the first heat sink 111 may discharge heat generated by the at least one light source 112 to the outside. In some cases, the first heat sink 111 may be omitted.
  • the beam splitter 114 splits the light emitted from the at least one light source 112 into the first beam B1 and the second beam B2.
  • the first beam B1 split by the beam splitter 114 is emitted to the outside while the second beam B2 is emitted to the beam steering unit 118.
  • the intensity ratio between the first beam B1 and the second beam B2 of the light split by the beam splitter 114 may be K: 1.
  • K may be greater than zero and less than ten.
  • the beam splitter 114 may include an element using at least one of linear polarization, circular polarization, a spatial mode of the light source 112, or a wavelength of the light source 112.
  • the beam splitter 114 may include at least one of a device for spatially dividing light or a device for temporally dividing light.
  • the beam splitter 114 may be omitted.
  • the transmission optical system 114 may be disposed between the at least one light source 112 and the beam splitter 116, and may be disposed between the light source and the beam steering unit 118 when the beam splitter 114 is omitted. have.
  • the transmission optical system 114 may include a collimator 114A for collimating light emitted from the at least one light source 112. In some cases, the transmission optical system 114 may be omitted.
  • the beam steering unit 118 divides the second beam B2 divided by the beam splitter 116 into a plurality of third beams B3 [B0, B (1-1), ... B (1-N). , B (2-1), ... B (2-M)] can be emitted in different directions.
  • N may be a positive integer of 1 or more and M may be a positive integer of 1 or more.
  • the third beam B3 will be described later in detail.
  • the beam splitter 116 may be omitted to steer one beam.
  • the beam stringing unit 118 may include at least one optical element for transmission.
  • the beam steering unit 118 is illustrated as including the first and second transmission optical elements S1 and S2, but the embodiment is not limited thereto. That is, the beam steering unit 118 may include only one transmission optical element, or may include two or more transmission optical elements.
  • the beam steering unit 118 will be described as including the first and second optical elements S1 and S2 for transmission, but the embodiment is not limited thereto.
  • the first and second transmission optical elements S1 and S2 may divide the second beam B2 incident from the beam splitter 116 into a plurality of third beams B3 and emit the light in different directions.
  • the first and second transmission optical elements S1 and S2 may receive and steer a single beam when the beam splitter 116 is omitted.
  • the plurality of beams emitted from the optical transmitter 110A toward the object may include a first beam B1 and a third beam B3.
  • Each of the first and second transmission optical elements S1 and S2 can emit a plurality of beams B1 and B3 in different directions toward the object without being mechanically rotated by a motor or the like.
  • the first and second transmission optical elements S1 and S2 may include at least one lens.
  • at least some of the lenses S1 constituting the optical element for transmission may be driven, and the beams emitted from the beam steering unit 118 may be steered through the driving of the lenses S1.
  • Each of the first and second transmission optical elements S1 and S2 respectively transmits the second beam B2 to a plurality of third beams B3 in different directions in response to at least one of an electrical signal, a physical signal, and a chemical signal. It can be released by dividing by.
  • the electrical signal, the physical signal or the chemical signal may be provided in the form of the first control signal C1 from the driving controller 140 to the light transmission unit 110A. That is, there is a stimulus from the outside, and at least one of an electrical signal, a physical signal, or a chemical signal is generated from the driving controller 140 as the first control signal C1 by the stimulus, and the generated first control signal C1. ),
  • a propagation path (ie, an emission angle) of the plurality of third beams B3 emitted from each of the first and second transmission optical elements S1 and S2 may be determined.
  • each of the first and second transmission optical elements S1 and S2 may be implemented as an optical phase array (OPA) for transmission.
  • the optical phase array for transmission may generate a plurality of third beams B3 to be emitted in different directions from the second beam B2 split by the beam splitter 116.
  • Each of the first and second transmission optical elements S1 and S2, which may be implemented as a transmission optical phase array, may be implemented in various ways as follows.
  • each of the first and second transmission optical elements S1 and S2 may have a surface on which a diffraction grating is periodically formed.
  • the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions. have.
  • each of the first and second transmission optical elements S1 and S2 may have an internal structure in which a difference in refractive index varies periodically. In this case, when the period is changed or the refractive index is changed, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have a lattice structure for polarization that periodically turns polarization on / off using liquid crystal.
  • the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have a birefringent prism shape. In this case, when the angle of the prism is changed, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have a structure having an interface between a liquid such as air and oil.
  • the first and second transmission optical elements S1 and S2 may emit a plurality of third beams B3 to be emitted in different directions. Can be generated.
  • the first and second transmission optical elements S1 and S2 may emit a plurality of third beams B3 to be emitted in different directions. Can be generated.
  • each of the first and second transmission optical elements S1 and S2 may have a structure in which transmittance periodically changes according to the intensity of the liquid crystal. In this case, when the period is changed or the transmittance is changed, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have a MEMS (Micro-Electro-Mechanical System) mirror array.
  • MEMS Micro-Electro-Mechanical System
  • the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions. have.
  • each of the first and second transmission optical elements S1 and S2 may have a medium having an electric field formed above, below, left, and right. In this case, when the intensity or frequency of the electric field is changed, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have a lens set arranged in two or more. In this case, when the individual lenses of the lens set are moved up, down, left, and right, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions. Can be.
  • each of the first and second transmission optical elements S1 and S2 may have a set of two or more MLAs. In this case, when the individual MLA is moved up, down, left, and right, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • each of the first and second transmission optical elements S1 and S2 may have two or more MLA sets aligned. In this case, when the period or shape of the individual MLA is changed, the first and second transmission optical elements S1 and S2 may generate a plurality of third beams B3 to be emitted in different directions.
  • the range of the width which gives a change to the above-described period (or a pattern such as a surface) is in the range of 0.1 ⁇ m to 2 mm,
  • the range of change may be greater than 1 and less than 2.7 when the wavelength is 1000 nm, and the range of change in transmittance and reflectivity described above may be greater than 0 and less than 1, but embodiments are not limited thereto.
  • a plurality of third beams B3 to be emitted in different directions may be combined by combining various aforementioned optical elements for transmission.
  • an electrical signal is applied to each of the first and second transmission optical elements S1 and S2. It can be applied at both ends.
  • the electrical signal may be a periodic voltage signal or a current signal.
  • the operating rate of the electrical signal may be 10 kHz or less.
  • first and second transmission optical elements S1 and S2 having various structures as described above, physical pressure may be applied to the first and second transmission optical elements S1 and S2.
  • the physical positions of the first and second transmission optical elements S1 and S2 may be changed.
  • the physical positions of the first and second transmission optical elements S1 and S2 may be moved in the optical axis direction or in two axis directions perpendicular to the optical axis direction.
  • a magnetic field may be used
  • a piezo (PZT) device may be used
  • VCM voice coil motor
  • link structure may be used
  • gravity and elasticity may be used.
  • the plurality of third beams B3 generated and emitted from the first and second transmission optical elements S1 and S2 implementing the beam steering unit 118 may include a zeroth beam BO emitted in an optical axis direction, N-1-1 to 1-N beams [B (1-1), ... B (1-N)] emitted or spaced in a counterclockwise direction from the optical axis direction or clockwise spaced from the optical axis direction And at least one of the M second-1 to second-M beams (B (2-1), ... B (2-M)) emitted.
  • the plurality of third beams B3 [B0, B (1-1), ... B (1-N), B (2-1), ... B (2-M)] are spaced apart from each other. Can be released. 1-1st to 1st-N beams [B (1-1), ... B (1-N)] and 2-1st to 2-M beams [B (2-1), ... B (2-M)] may be emitted spaced apart from the zeroth beam BO by a predetermined angle.
  • the 1-1 st beam B (1-1) is spaced apart from the 0 th beam BO by the 1-1 st angle [ ⁇ (1-1) T], and the 1 st-N beam [B].
  • the 2nd M beam [B (2-M)] is spaced apart from BO by 2-1st angle [theta] (2-1) T], and the 2nd M beam [B (2-M)] is the 0th beam BO and the 2nd M angle [ ⁇ ( 2-M) T].
  • the first-N or second-M beams B (1-N) and B (2-M) are larger than the zeroth beam BO. Spaced at an angle.
  • the largest separation angle ⁇ (1-N) T or ⁇ (2-M) T may be less than 90 °, but embodiments are not limited thereto.
  • the separation angle between the beams adjacent to each other may be smaller than 20 °, but the embodiment is not limited thereto.
  • the light receiving unit 120A has a different angle from one beam or a plurality of back lights emitted from the light transmitting unit 110A and reflected back after being hit by an object (not shown).
  • the information on the object may be measured (or inspected or analyzed) by using a plurality of incident incident back light.
  • the light receiver 120A may include a second heat sink 121, a light inspector 122, a light detector 124, a filter 126A, and a reception optical system 128.
  • the light detector 124 may be omitted.
  • the light detector 124 receives the plurality of rear light beams RB that are reflected back after hitting the object at different angles, and sends them to the light inspecting unit 122 at a predetermined angle.
  • the back light RB incident to the light detector 124 is the i-th back light RO incident in the optical axis direction, and i first to first to first i rays spaced apart in the counterclockwise direction from the optical axis direction.
  • i may be a positive integer of 1 or more and j may be a positive integer of 1 or more.
  • first-first to first-i back light [R (1-1), ... R (1-i)] and the second-first to second-j back light [R (2-1) , ... R (2-j)] may be incident to the 0th rear light RO at a predetermined angle.
  • the 1-1 st rear light R (1-1) is spaced apart from the 0 th rear light RO by the 1-1 angle [theta] (1-1) R, and the 1-1 i rear
  • the light R (1-i) is spaced apart from the zeroth rear light RO by the first-i angle [theta] (1-i) R, and the second-first rear light R (2-1)].
  • the second-jth rear light R (2-j) is separated from the zeroth rear light RO. It may be spaced apart by the second j angle [theta] (2-j) R].
  • the plurality of rear lights R0, R (1-1), ... R (1-i), R (2-1), ... R (2-j) are spaced apart from each other and the light detector May be incident to 124.
  • the light detector 124 may include at least one optical element for reception.
  • the light detector 124 is illustrated as including the first and second receiving optical elements D1 and D2, but the embodiment is not limited thereto. That is, according to another exemplary embodiment, the light detector 124 may include only one receiving optical element or may include three or more receiving optical elements. Similar to the transmission optical elements S1 and S2, the reception optical elements D1 and D2 may operate in response to at least one of an electrical signal, a physical signal, or a chemical signal. The electrical signal, physical signal or chemical signal may be provided in the form of a second control signal C2 from the driving controller 140 to the light receiving unit 120A.
  • Each of the first and second receiving optical elements D1 and 32 may adjust at least one of transmission and reflection efficiency for each angle.
  • each of the first and second receiving optical elements D1 and D2 may be implemented as a receiving optical phase array OPA.
  • the receiving optical phase array may input a plurality of back lights at different angles and output the same at a predetermined angle.
  • Each of the first and second receiving optical elements D1 and D2, which may be implemented as the receiving optical phase array, may operate in various ways as follows.
  • each of the first and second receiving optical elements D1 and D2 may have a surface on which a diffraction grating is periodically formed. In this case, when at least one of the period, angle, or shape of the grating is changed, each of the first and second receiving optical elements D1 and D2 may operate.
  • a difference in refractive index of each of the first and second receiving optical elements D1 and D2 may be changed periodically. In this case, when the period is changed or the refractive index is changed, each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may have a birefringent prism shape. In this case, when the angle of the prism is changed, each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may have a structure having an interface between a liquid such as air and oil. In this case, when an external signal is applied to change the interface or the refractive index of the liquid, each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may have a lens set arranged in two or more. In this case, when the individual lenses are moved up, down, left, and right in the lens set, each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may have a set of two or more MLAs. In this case, when the individual MLA is moved up, down, left, and right, each of the first and second receiving optical elements D1 and D2 may operate.
  • each of the first and second receiving optical elements D1 and D2 may have two or more MLA sets aligned. In this case, when at least one of the period or shape of the individual MLA is changed, each of the first and second receiving optical elements D1 and D2 may operate.
  • the range of the width for giving a change to the above-described period (or a pattern such as a surface) is 0.1 ⁇ m to 2 mm, and the range for changing the aforementioned refractive index is a wavelength. It may be greater than 1 when the 1000nm is less than 2.7, and the above-mentioned range for changing the transmittance and reflectance may be greater than 0 and less than 1, but the embodiment is not limited thereto.
  • the light detector 124 may include a receiving optical element that operates in various ways as described above.
  • an electrical signal is provided at both ends of each of the first and second receiving optical elements D1 and D2.
  • the electrical signal may be a periodic voltage signal or a current signal.
  • the operating rate of the electrical signal may be less than 10 Hz.
  • first and second receiving optical elements D1 and D2 having various structures as described above, physical pressure may be applied to the first and second receiving optical elements D1 and D2.
  • the physical positions of the first and second receiving optical elements D1 and D2 may be changed.
  • the physical positions of the first and second receiving optical elements D1 and D2 may be moved in the optical axis direction or in two axis directions perpendicular to the optical axis direction.
  • a magnetic field may be used
  • PZT may be used
  • VCM may be used
  • a link structure may be used
  • gravity and elasticity may be used.
  • the angle at which the back light is incident may be adjusted in various ways.
  • the first-i or second-j back light R (1-i), R (2-j) is spaced apart from the zeroth beam BO at the largest angle.
  • the largest separation angle [theta] (1-i) R or [theta] (2-j) R] can be made smaller than 90 degrees, the embodiment is not limited thereto.
  • the 0th, 1-1st to 1st-i and 2-1th to 2nd-j beams may set the separation angle between the beams adjacent to each other less than 20 °, but the embodiment is not limited thereto.
  • the receiving optical system 128 may be disposed between the light inspecting unit 122 and the light detecting unit 124 to focus the light emitted from the light detecting unit 124 and provide the light to the light inspecting unit 122.
  • the receiving optical system 128 may include a collector 128A, but the embodiment is not limited thereto. In some cases, the reception optical system 128 may be omitted.
  • FIG. 3 is a block diagram of another embodiment 120B of the light receiving unit in the light output module according to the embodiment.
  • the light receiver 120B illustrated in FIG. 3 may include a second heat sink 121, a light inspector 122, a light detector 124, a filter 126B, and a reception optical system 128. Except that the shape of the filter 126B differs from the filter 126A shown in FIG. 2, the light receiver 120B shown in FIG. 3 is the same as the light receiver 120A shown in FIG. 2.
  • the filters 126A and 126B are disposed between the light detector 124 and the reception optical system 128, and selectively filter or remove noise of at least one wavelength required in the back light emitted from the light detector 124. The result may be transmitted to the light inspection unit 122 or reflected.
  • the transmissive filter 126A as shown in FIG. 2 selectively transmits and filters the desired wavelength, while the reflective filter 126A as shown in FIG. 3 may selectively reflect and filter the desired wavelength.
  • the filters 126A and 126B may be omitted.
  • the transmission or reflection efficiency of the filters 126A and 126B may be improved because the receiving optical phase array outputs the back light incident at different angles at a constant angle.
  • the range of the central wavelength of the at least one wavelength filtered by the filters 126A and 126B may be 0.2 ⁇ m to 2 ⁇ m, and the bandwidth of the filtered wavelength may be 1 nm or more.
  • F when the ratio of the intensity of the wavelength blocked by the filters 126A and 126B to the intensity of the selected wavelength is F: 1, F may be 0.5 or less.
  • the optical element for the filter may further include at least one central angle of incident light that maximizes transmission of the filter 126A or reflection efficiency of the filter 126B.
  • the optical element for the filter may be implemented in various forms.
  • the filter optical elements 126-1 and 126-2 may be implemented by stacking two or more thin films having two or more refractive indices.
  • the filter type optical element may be realized by forming a lattice structure on the surface to adjust the refraction or reflection angle of a specific wavelength.
  • the optical element for the filter may be implemented to select a specific wavelength by periodically changing the internal refractive index.
  • Light having a wavelength band selected by the filters 126A and 126B is transmitted or reflected to the light inspection unit 122.
  • the filter 126A is a transmission type that transmits light to the light inspection unit 122
  • the incident angle of the light incident to the transmission filter 126A is 60 ° or less
  • the transmission efficiency of the filter 126A is maximum.
  • the filter 126B reflects light and transmits the light to the light inspection unit 122
  • the angle of the light incident on the reflective filter 126B is 25 ° or more
  • the reflection efficiency of the filter 126B may be maximized. Can be.
  • the second heat sink 121 may serve to emit heat generated by the light inspecting unit 122 to the outside, and may be omitted in some cases.
  • the light inspection unit 122 may measure (or analyze) the information on the object from the back light provided from the light detection unit 124 via the filters 126A and 126B.
  • the light inspecting unit 122 may measure a time difference between the plurality of beams emitted from the light transmitting unit 110A and the back light output from the light detecting unit 124. To this end, the plurality of beams B1 and B3 emitted from the light transmitting unit 110A may convert the intensity of the back light reflected and returned to the electric signal into an electric signal. Alternatively, the plurality of beams B1 and B3 emitted from the light transmitting unit 110A may convert the intensity returned by reflecting after returning from the object to an electrical signal in chronological order. In this case, the light inspecting unit 122 may measure a time difference between the plurality of beams and the back light using an electrical signal.
  • the light inspecting unit 122 may measure a time difference based on a time of first measuring a part of the light emitted from the light transmitting unit 110A. In addition, the light inspecting unit 122 may measure a time difference based on an electrical signal synchronized with the light transmitting unit 110A.
  • the light inspection unit 122 may be implemented by arranging one or a plurality of light receiving units in a one-dimensional or two-dimensional array. In this case, a time difference of light reflected at a predetermined position may be measured using the plurality of light receiving units. Alternatively, the spatial difference of the signal and the time difference of each space may be measured through the plurality of light receiving units. In this case, the light receiving signal may be classified for each pixel of the array and converted into an electric signal.
  • an Avalanche Photo Diode APD
  • SPAPD Single Photon Avalanche Photo Diode
  • SAPD Single Avalanche Photo Diode
  • PD Photo Diode
  • QWP Quantum Well Photodiode
  • PMT Photo Multiplying Tube
  • the light inspecting unit 122 may simultaneously measure the spatial difference and the time difference between the light transmitted from the light transmitting unit 110A and the back light reflected and returned after hitting the object.
  • the light inspecting unit 122 may analyze the information on the object using at least one of the intensity of the back light or the spatial position of the object.
  • the information on the object to be inspected may include, for example, at least one of distance or position information of the object.
  • the light inspecting unit 122 may measure basic data for measuring information about an object, and transmit the measured result to an analyzing unit (not shown).
  • the analyzer may analyze information about the object using the basic data measured by the light inspector 122.
  • the light output module may further include a first housing H1.
  • the first housing H1 may have a shape surrounding the light transmitting unit 110A and the light receiving unit 120A. However, the first housing H1 may be omitted.
  • the driving controller 140 may control at least one of the light transmitting unit 110A or the light receiving unit 120A. That is, the driving controller 140 generates an electrical signal, a physical signal or a chemical signal in the form of the first and second control signals C1 and C2 and transmits the signals by the first and second control signals C1 and C2.
  • the driving of the reliable optical elements S1 and S2 and the receiving optical elements D1 and D2 can be controlled respectively.
  • each of the first and second control signals C1 and C2 generated by the driving controller 140 may be in the form of a continuous wave (CW) or a continuous pulse, and the embodiment may include the first and second control signals C1 and C2. It is not limited to the specific form of the second control signals C1 and C2.
  • the sensing unit 130 senses the first beam B1 split by the beam splitter 116, and transmits the sensed result to the driving controller 140.
  • the driving controller 140 generates the first and second control signals C1 and C2 using the sensed results received from the sensing unit 130, and generates the generated first and second control signals C1,
  • Each of the optical transmitter 110A and the optical receiver 120A may be controlled using C2).
  • the sensing unit 130 may include a photodiode 132 and a sensing optical system 134.
  • the photodiode 132 senses the first beam B1 split from the beam splitter 116, converts the first beam B1 into an electrical signal, and outputs the converted electrical signal to the driving controller 140 as a sensed result.
  • the sensing optical system 134 is disposed between the divided first beam B1 and the photodiode 132.
  • the sensing optical system 134 may include, for example, a plurality of prisms 134-1 and 134-2, but the embodiment is not limited thereto.
  • the driving controller 140 may increase the intensity of the light emitted from the light source 112 as desired.
  • the strengths of the plurality of beams B1 and B3 are weak, the intensity of the plurality of rear lights received by the light receiving units 120A and 120B may also be weak, and thus the problem of inability to accurately analyze the information of the object may be solved.
  • the light output module according to the above embodiment may further include a second housing H2.
  • the second housing H2 may have a shape surrounding the sensing unit 130. However, the second housing H2 may be omitted.
  • the plurality of beams emitted to the object include not only the third beam B3 but also the first beam B1.
  • the direction of the beam emitted to the object can be expanded than before. The expansion of the beam direction will be described below with reference to the accompanying drawings.
  • the light output module of the embodiment may be installed in a vehicle to provide unmanned autonomous driving of the vehicle.
  • unmanned autonomous driving is a technology that drives itself to the destination by controlling steering, shifting, acceleration, and brake according to the road environment based on obstacle recognition devices such as sensors and cameras and automatic navigation devices such as GPS modules without a driver.
  • the light output module installed and used in a conventional vehicle does not consider the scanning rate according to the vehicle driving situation. For example, even when the vehicle is traveling at a high speed and has the same scanning rate as when driving at a low speed, the distance resolution is greatly reduced because the light output module mounted in the vehicle moves together in response to the traveling speed. There was a problem in that the resolution of surrounding information, such as the position and obstacles of another car, which is located is reduced.
  • the present invention can provide an optical output module for solving the above problems. Hereinafter, this will be described in detail with reference to FIGS. 4 and 5.
  • FIG. 4 is a light output module according to an embodiment installed in a vehicle to measure light wave detection and distance
  • FIG. 5 is a light output module according to another embodiment installed in a car to measure light wave detection and distance.
  • the optical output module according to the embodiment may scan the front of the vehicle with the first scanning rate A when the vehicle is traveling at a low speed.
  • the area having the first scan angle ⁇ 1 may be scanned based on the center of the.
  • the scanning rate for a specific area mounted by a vehicle light detection and ranging (LiDAR) measuring device may be a time at which the beam output from the light output module stays in the specific area. It may also be the frequency of scanning a particular area.
  • LiDAR vehicle light detection and ranging
  • the first scanning rate A may be a rate having sufficient resolution when the vehicle travels below the critical rate VC when the vehicle runs at a low speed.
  • the first scanning rate A may be 1 Hz to 35 Hz, and may be provided to have the same value within the range of the first scan angle ⁇ 1.
  • the first scan angle ⁇ 1 may be provided at an angle at which the vehicle can recognize another vehicle traveling in front or rear.
  • the first scan angle ⁇ 1 may be provided at 70 ° or more.
  • FIG. 5 illustrates an optical output module according to an embodiment when the vehicle is traveling at a high speed.
  • the first scanning is a scanning rate when the vehicle is traveling at a low speed.
  • a scanning rate higher than the rate A can be provided.
  • the light output module emits a beam from the light transmission unit and collects information on the object using a plurality of rear lights that are reflected after the emitted beam hits the object.
  • a problem arises in that the first scan angle ⁇ 1 to be scanned cannot be scanned at a higher scanning rate (eg, a higher speed).
  • the peripheral information collected through the vehicle light wave detection and distance (LiDAR) measuring device may be selectively collected for each peripheral area of the vehicle in response to the driving speed of the vehicle.
  • the scan angle of the optical output module according to the embodiment may be the first scan angle ⁇ 1 as in the case of low speed driving.
  • the first scan angle ⁇ 1 may include a second scan angle ⁇ 2 which is the center angle of the region scanned at a high scanning rate and a third scan angle ⁇ 3 which is the center angle of the region scanned at a relatively low scanning rate. Can be.
  • One or more third scan angles ⁇ 3 may exist.
  • the center angle of the fast scan area for high speed scanning at a high scanning rate may be the second scan angle ⁇ 2, and the center angle of the low speed scan area for relatively low speed scanning is one or more third scan angles ⁇ 3. May be).
  • the high speed scan area may be located at the center of the entire scan area, and the low speed scan area may be located at both sides of the entire scan area except for the high speed scan area.
  • the present invention is not limited thereto, and the low speed and high speed scan areas may be set in other forms.
  • the sum of the second scan area, which is the high-speed scan area, and the third scan area, which is the low-speed scan area may be the same as the entire scan area where the center angle is the first scan angle ⁇ 1.
  • the high-speed scan area is not limited to an embodiment in which the high-speed scan area is located next to each other, and when the area of interest occurs, the generated area of interest is set as the high-speed scan area to drive at a high scanning rate, and portions other than the area of interest are low-speed scan areas. It can be set to drive at a scanning rate relatively lower than that of the fast scan area.
  • the optical output module according to the embodiment may scan with the second scanning rate B in the high speed scan area, and scan with the third scanning rate C in the low speed scan area.
  • the second scanning rate scanning the high speed scan area and the third scanning rate scanning the low speed scanning area may be different from each other.
  • the second scanning rate B may be 20 Hz or more.
  • the third scanning rate C may be smaller than the second scanning rate B because it scans the low speed scan area.
  • the third scanning rate C may be 1 Hz to 10 Hz.
  • the second scanning rate (B) and the third scanning rate (C) has been described as an example for convenience of description and may be variously modified as needed by the user, and the second scanning rate (B) is the third scanning As long as it is larger than the rate (C), this does not limit the scope of the present invention.
  • FIG. 6 is a flowchart illustrating a control order according to a rate of a vehicle when the light output module of the embodiment is installed in the vehicle.
  • the optical output module of the embodiment may measure the rate of the mounted vehicle (S100).
  • the driving speed (rate) of the vehicle can be measured using various equipments, which will be apparent to those skilled in the art to which the present invention pertains, so a description of a method or configuration for measuring a vehicle's rate will be omitted.
  • a vehicle optical wave detection and distance (LiDAR) measuring device may directly detect a driving speed of a vehicle, and a vehicle speed detection and distance (LiDAR) measuring device may receive a driving speed of the vehicle. .
  • the scanning rate may be corrected (S300), and a current may be applied to the actuator, for example, the beam steering unit 118 (S400).
  • the entire scanning area is divided into a high speed scan area and a low speed scan area so that the response rate is faster in a region of interest (i.e., a peripheral area that becomes more important in response to the vehicle traveling speed) by varying the scanning rate.
  • a region of interest i.e., a peripheral area that becomes more important in response to the vehicle traveling speed
  • the critical rate VC When the current rate of the vehicle is smaller than the critical rate VC, it may be determined that the vehicle is traveling at low speed, and the entire scanning area may be scanned at a constant rate without correcting the scanning rate.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Un mode de réalisation concerne un module optique qui comprend : une unité d'émission de lumière pour émettre une pluralité de faisceaux vers une zone de balayage de façon à balayer la zone de balayage; et une unité de réception de lumière pour mesurer des informations sur un objet situé à l'intérieur de la zone de balayage, en utilisant la lumière arrière qui est réfléchie et renvoyée par l'objet une fois que les faisceaux émis ont frappé l'objet, la zone de balayage comprenant au moins une zone de balayage, et l'unité d'émission de lumière balayant ladite zone de balayage à au moins une vitesse de balayage.
PCT/KR2016/012232 2015-10-28 2016-10-28 Module de sortie optique, véhicule le comprenant, et son procédé de commande WO2017074092A1 (fr)

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US15/771,924 US10676057B2 (en) 2015-10-28 2016-10-28 Optical output module, vehicle including same, and control method therefor
US16/867,724 US11390229B2 (en) 2015-10-28 2020-05-06 Optical output module, vehicle including same, and control method therefor

Applications Claiming Priority (4)

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KR10-2015-0150575 2015-10-28
KR20150150575 2015-10-28
KR1020160141697A KR102682459B1 (ko) 2015-10-28 2016-10-28 광출력 모듈 및 이를 포함하는 자동차 및 그 제어 방법
KR10-2016-0141697 2016-10-28

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US16/867,724 Continuation US11390229B2 (en) 2015-10-28 2020-05-06 Optical output module, vehicle including same, and control method therefor

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960033858A (ko) * 1995-03-07 1996-10-22 김주용 자동차 충돌방지장치 및 방법
JPH1164499A (ja) * 1997-08-21 1999-03-05 Mitsubishi Electric Corp 車載用レーダ装置
JP2006349694A (ja) * 2006-08-10 2006-12-28 Omron Corp 物体検知装置および方法
JP2012215521A (ja) * 2011-04-01 2012-11-08 Denso Corp レーザレーダ装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR960033858A (ko) * 1995-03-07 1996-10-22 김주용 자동차 충돌방지장치 및 방법
JPH1164499A (ja) * 1997-08-21 1999-03-05 Mitsubishi Electric Corp 車載用レーダ装置
JP2006349694A (ja) * 2006-08-10 2006-12-28 Omron Corp 物体検知装置および方法
JP2012215521A (ja) * 2011-04-01 2012-11-08 Denso Corp レーザレーダ装置

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