WO2017119547A1 - Appareil et procédé de détection d'interférence de signaux - Google Patents

Appareil et procédé de détection d'interférence de signaux Download PDF

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Publication number
WO2017119547A1
WO2017119547A1 PCT/KR2016/002841 KR2016002841W WO2017119547A1 WO 2017119547 A1 WO2017119547 A1 WO 2017119547A1 KR 2016002841 W KR2016002841 W KR 2016002841W WO 2017119547 A1 WO2017119547 A1 WO 2017119547A1
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WIPO (PCT)
Prior art keywords
wavelength
laser light
light source
period
pattern
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PCT/KR2016/002841
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English (en)
Korean (ko)
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정영대
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한화테크윈 주식회사
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Publication of WO2017119547A1 publication Critical patent/WO2017119547A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse 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
    • 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
    • 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
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present invention is to detect the signal interference generated between the distance measuring device using a lidar, to more accurately measure the distance.
  • the distance measuring apparatus using LADAR measures a distance using a laser such as LiDAR (Light Detection And Ranging). Since lasers such as LiDAR generate fixed wavelengths according to the oscillation medium, interference with signals generated by other distance measuring devices using the same LiDAR laser may occur. In particular, as the number of vehicles equipped with a distance measuring apparatus using a lidar increases, signal interference increases. In addition, due to signal interference, it is difficult to accurately measure distances in a distance measuring apparatus using a lidar.
  • a laser such as LiDAR (Light Detection And Ranging). Since lasers such as LiDAR generate fixed wavelengths according to the oscillation medium, interference with signals generated by other distance measuring devices using the same LiDAR laser may occur. In particular, as the number of vehicles equipped with a distance measuring apparatus using a lidar increases, signal interference increases. In addition, due to signal interference, it is difficult to accurately measure distances in a distance measuring apparatus using a lidar.
  • a signal interference problem occurring in a distance measuring device or a distance measuring system or a lidar system using a laser generating the same or similar wavelengths is solved.
  • a signal interference detection apparatus in another preferred embodiment, includes a laser light source for generating a signal having a first pulse width; At least one laser light source for generating a signal having a pulse width that is different from the first pulse width; and a signal oscillated at the laser light source for generating a signal having the first pulse width within a period T and the first pulse width. And a controller for detecting a pattern by checking a signal oscillated by the at least one laser light source generating a signal having a pulse width different from that of the laser beam.
  • control unit detects a pattern different from the pattern repeatedly detected for each period T, it is determined that the signal generated by the laser light source generating the signal having the first pulse width is interfered.
  • the pulse width of the other size is larger than the size of the first pulse width.
  • the starting point of the pattern is selected as the first wavelength generated by the first laser light source.
  • a method for detecting signal interference comprises oscillating a first wavelength in a LADAR laser light source; Oscillating a wavelength at which at least one laser light source generates a peak at a frequency band different from a frequency band used by the peak of the first wavelength; Detecting, by a controller, a wavelength oscillated by the LADAR laser light source and the at least one laser light source at every cycle T; and by the controller, the first wavelength and the at least one laser oscillated within the cycle T at each cycle T; Detecting a pattern generated by the wavelengths oscillated by the light source; And comparing, by the controller, a pattern read in the current period T and a pattern repeatedly detected for each previous period T to determine whether the pattern of the current period T matches and to determine whether interference occurs in a first wavelength. It features.
  • the signal interference detection device used in the distance measuring device using a lidar has the effect of detecting the interference of signals generated between the distance measuring devices using the lidar.
  • the signal interference detection apparatus used in the distance measuring apparatus using a lidar can perform the distance measurement more accurately by not using the data of a predetermined time interval determined that interference has occurred in the signal. There is.
  • FIG. 1 is a block diagram schematically illustrating an example of measuring a distance in a distance measuring apparatus using laser detection and raging (LADAR) according to an embodiment of the present invention.
  • LADAR laser detection and raging
  • FIG. 2 shows an example of a wavelength oscillating in a LiDAR sensor system used in a distance measuring apparatus using a lidar.
  • FIG. 3 is a diagram illustrating the internal configuration of a signal interference detection apparatus used in an apparatus for measuring distance using a lidar, according to a preferred embodiment of the present invention.
  • FIG. 4 is a diagram illustrating the internal configuration of the signal interference detection apparatus 400 according to another preferred embodiment of the present invention.
  • FIG. 5 illustrates an embodiment of measuring a distance using a signal interference detection device in a distance measuring device using a lidar as a preferred embodiment of the present invention.
  • FIG. 6 is a flowchart illustrating a method of detecting signal interference in a distance measuring apparatus using a lidar as a preferred embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of detecting signal interference in a distance measuring apparatus using a lidar according to another preferred embodiment of the present invention.
  • a signal interference detection apparatus includes a laser light source for generating a first wavelength; At least one laser light source for generating a wavelength of a different magnitude from the first wavelength; A controller configured to oscillate the laser light source generating the first wavelength and at least one laser light source generating wavelengths different from the first wavelength with the same period T; And the control unit detects a pattern generated by the first wavelength oscillated in the period T and wavelengths different in size from the first wavelength for each period T.
  • the controller oscillates a signal in the laser light source generating the first wavelength, and then checks the signal oscillated in at least one laser light source generating wavelengths different from the first wavelength within the period T. The pattern is detected.
  • the controller determines that interference has occurred in a signal of the laser light source that oscillates the detected wavelength. do.
  • each of the at least one laser light source generating a wavelength having a different size from the first wavelength is characterized by using a different frequency band within the period T.
  • the laser light source for generating the first wavelength is characterized in that the wavelength generated according to the oscillation medium is fixed.
  • the distance of the object is measured using the first wavelength.
  • the pulse width of the first wavelength and the pulse width of wavelengths different from the first wavelength are different.
  • a pulse width of wavelengths different from the first wavelength may be greater than a pulse width of the first wavelength.
  • the pulse width of the first wavelength is characterized in that the unit of nanoseconds (ns).
  • FIG. 1 is a block diagram schematically illustrating an example of measuring a distance in a distance measuring apparatus using laser detection and raging (LADAR) according to an embodiment of the present invention.
  • LADAR laser detection and raging
  • the distance measuring apparatus (100, 200) using the lidar measures the distance using the difference between the laser oscillation time and the reflection time.
  • the distance measuring apparatuses 100 and 200 using lidar may include a LiDAR sensor system used as a laser for LADAR.
  • the LiDAR sensor system can detect the distance to the target, the direction, speed, temperature, material, etc. of the target to recognize the target around the vehicle.
  • the LiDAR sensor system emits a laser on the target and reflects the target information through the reflected light reflected from the target. Can be received.
  • the laser signals are oscillated toward the target moving bodies 100 and 200 (S100 and S200), and the time t1 and t2 returning after the laser signals S100 and S200 are oscillated on the target moving bodies 100 and 200 (S102 and S202).
  • the distance from the distance measuring device 100 using the first lidar to the target moving object 200 and the distance measuring device 200 using the second lidar using the predetermined speed v of the oscillated laser signal is calculated.
  • the laser signal reflected from the surfaces of the target moving bodies 100 and 200 passes through the focus lens and the filter, and minimizes signal distortion due to optical interference, so that the setting is transmitted such that only a specific wavelength band (for example, 900 to 1600 nm wavelength band) is transmitted. It is possible.
  • the distance measuring device 100 using the first lidar and the distance measuring device 200 using the second lidar are provided with laser light sources 110 and 210 for irradiating a laser signal, respectively.
  • an example of the laser light sources 110 and 210 may use a LiDAR sensor system.
  • the laser light sources 110 and 210 may be disposed and installed on a movable body such as a robot, a ship, a helicopter, a drone, as well as a vehicle, and may be mounted on a fixed body having limited movement of a building, a column, and a tower. It should be noted.
  • the laser light sources 110 and 210 may be rotated 360 degrees.
  • the laser light sources 110 and 210 may emit a laser signal having a very narrow wavelength region, for example, nanoseconds, and the laser beam may have an infrared wavelength region, but the present invention is not limited thereto.
  • the wavelengths of the laser light sources 110 and 210 are fixed according to the oscillation medium.
  • the LiDAR sensor systems 110 and 210 used as an example of the laser light sources 110 and 210 generate the same wavelengths having the same period T, respectively.
  • the LiDAR sensor systems 110 and 210 may generate wavelengths having a pulse width of 3 ns, respectively.
  • FIG. 3 is a diagram illustrating the internal configuration of a signal interference detection apparatus used in an apparatus for measuring distance using a lidar, according to a preferred embodiment of the present invention.
  • the signal interference detection device 300 solves the problem of interference caused by fixed wavelengths according to an oscillation medium in an expensive laser generating a very narrow wavelength used in a distance measuring device using a lidar.
  • the signal interference detection apparatus 300 includes a LADAR laser light source 310, at least one laser light source (320, 322, 324) and the controller 330.
  • the signal interference detection apparatus 300 measures the distance by using the LADAR laser light source 310 to generate a very narrow wavelength (S310) for generating a pulse width (S311) of the nanosecond unit. do.
  • An example of the LADAR laser light source 310 is a LiDAR sensor system or a LiDAR laser.
  • the laser used to measure the distance has a problem that interference easily occurs between lasers of the same type.
  • the signal interference detection apparatus 300 further includes at least one or more laser light sources 320, 322, and 324 in addition to the LADAR laser light source 310.
  • the at least one laser light source 320 includes, for example, a first signal interference detection laser light source 322 and a second signal interference detection laser light source 324.
  • at least one or more laser light sources 320, 322, and 324 may use a low-cost laser light source because the pulse widths S323 and S325 may be large.
  • At least one laser light source (320, 322, 324) generates a wavelength having a relatively large pulse width, as shown in Figure 3 (S322, S324).
  • the widths of the pulses S323 and S325 of the wavelengths generated by the at least one laser light source 320, 322, or 324 may be in seconds, but are not limited thereto.
  • the controller 330 detects the wavelength oscillated by the LADAR laser light source 310 and the wavelength of the signal oscillated by the at least one laser light source 320, 322, or 324 for each period T (S331).
  • the reference of the period T may be a period of the wavelength oscillated by the LADAR laser light source 310 or a period set by a user.
  • the controller 330 receives the wavelength oscillated by the LADAR laser light source 310 and the wavelengths oscillated by the first signal interference detection laser light source 322 and the second signal interference detection laser light source 324, respectively, and is detected during period T. Create a pattern of wavelengths.
  • the controller 330 receives a wavelength oscillated from the LADAR laser light source 310 having the smallest pulse width at a time t1 during a period T, and a first signal interference detection laser having a long pulse width at a time t2.
  • the wavelength S322 of the light source 322 is received and detects that the wavelengths of the second signal interference detection laser light source 323 having a long pulse width are sequentially received at t3 time.
  • the pulse width of the wavelength of the first signal interference detection laser light source 322 and the pulse width of the wavelength of the second signal interference detection laser light source 323 may be the same or different.
  • the pulse width of each wavelength of the first signal interference detection laser light source 322 and the wavelength of the second signal interference detection laser light source 323 is larger than the pulse width of the wavelength oscillated by the LADAR laser light source 310. It is characterized by.
  • the control unit 330 is a wavelength oscillated by the LADAR laser light source 310 every period T, the wavelength (S322) of the first signal interference detection laser light source 322 and the wavelength (S324) of the second signal interference detection laser light source 324. If a predetermined time interval and shape are repeatedly displayed in sequence (S331, S335), it is detected as a pattern.
  • the controller 330 may be any one of a wavelength oscillated by the LADAR laser light source 310, a wavelength of the first signal interference detection laser light source 322, and a second signal interference detection laser light source 323. It is possible to implement to detect the pattern for each period T after selecting the starting point. 3 is an example of selecting the wavelength oscillated by the LADAR laser light source 310 as a starting point of a pattern (S330).
  • the controller 330 detects a pattern detected through learning or at a user's setting or during the first period T as a pattern, and then, in the LADAR laser light source 310 and at least one or more laser light sources 320 received every period T. Compare whether the received wavelength matches the detected pattern. When a different pattern is detected as a result of the comparison, it is determined that interference occurs in the wavelength of the LADAR laser light source 310 in the period S340.
  • the controller 330 determines that the interference has occurred near the time t10 by the LADAR laser light source, and does not use the wavelength data received between the periods T N (S340) when calculating the distance.
  • FIG. 4 is a diagram illustrating the internal configuration of the signal interference detection apparatus 400 according to another preferred embodiment of the present invention.
  • the signal interference detection apparatus 400 includes a transmission lens unit 410, a reception lens unit 420, and a control unit 430.
  • the transmission lens unit 410 generates a LADAR transmission laser light source 412 that generates a narrow pulse width, a first signal interference detection transmission laser light source 414 that generates a wide pulse width, and a wide pulse width. And a second signal interference detection transmission laser light source (416).
  • one example of the narrow pulse width is a pulse width in nanoseconds.
  • an example of a wide pulse width is a pulse width in milliseconds.
  • one example of the narrow pulse width is a pulse width of a wavelength suitable for measuring the distance of an object.
  • An example of a wider pulse width means a wider pulse width based on a pulse width of a wavelength used to measure an object's distance.
  • the receiving lens unit 420 receives the reflected light reflected from the object, and includes a first receiving lens unit 430, a second receiving lens unit 440, and a third receiving lens unit 450.
  • the first receiving lens unit 430 includes a filter 431, a LADAR receiving laser light source 443 and a first detector 445 for receiving the reflected light reflected through the LADAR laser light transmitting 412 for generating a narrow pulse width.
  • the second receiving lens unit 440 receives the first signal interference detection receiving laser light source 443 and the second detector 445 for receiving the reflected light reflected through the filter 441, the first signal interference detection transmitting laser light source 414.
  • the third receiving lens unit 450 may receive the second signal interference detection receiving laser light source that receives the reflected light reflected by the filter 451 and the second signal interference detection transmission laser light source 416 generating a wide pulse width. 453 and a third detector 455.
  • the first receiving lens unit 430 constituting the receiving lens unit 420 may be composed of a LADAR transmission laser light source 412 and a single lens.
  • the second receiving lens unit 440 may be composed of a first signal interference detection transmission laser light source 414 and a single lens.
  • the third receiving lens unit 450 may be composed of a second signal interference detection transmission laser light source 416 and a single lens.
  • the controller 460 includes a pattern detector 461, a pattern comparator 463, and an interference signal detector 465.
  • the pattern detector 461 detects a pattern based on the signals received by the first receiving lens unit 430, the second receiving lens unit 440, and the third receiving lens unit 450. An embodiment of detecting a pattern refers to the part related to FIG. 3.
  • the pattern comparison unit 463 determines whether the detected pattern matches the pattern generated by the received signals for each period T.
  • the interference signal detection unit 465 uses the LADAR receiving laser light source 433 included in the pattern that does not match in the pattern comparison unit. In the preferred embodiment of the present invention, the distance measuring apparatus using the lidar can accurately measure the distance by not discarding or using the data detected by the interference signal detector 465. Do.
  • FIG. 5 illustrates an embodiment of measuring a distance using a signal interference detection device in a distance measuring device using a lidar as a preferred embodiment of the present invention.
  • the distance measuring device 510 using the first lidar and the distance measuring device 520 using the second lidar are signal interference detection devices as shown in FIG. 3 or 4. Equipped with.
  • the distance measuring device 510 using the first lidar and the distance measuring device 520 using the second lidar each have laser signals S511 and S521 having very narrow wavelength ranges. Since a laser light source is used to emit light, interference occurs between the laser signal oscillated by the distance measuring device 510 using the first lidar and the laser signal oscillated by the distance measuring device 520 using the second lidar. easy to do.
  • the distance measuring device 510 using the first lidar has a laser having a relatively large wavelength region in addition to the laser light source emitting a laser signal S511 having a very narrow wavelength region.
  • Two laser light sources for oscillating signals S513 and S515 are further used.
  • the distance measuring device 520 using the second lidar also oscillates the laser signals S523 and S525 having a relatively large wavelength region in addition to the laser light source emitting the laser signal S521 having a very narrow wavelength region. Laser light sources are further used.
  • two laser light sources are additionally used to detect signal interference in the distance measuring device 510 using the first lidar and the distance measuring device 520 using the second lidar.
  • at least one laser may be used only for one embodiment.
  • at least one laser may use different frequency bands within a period T.
  • FIG. 6 is a flowchart illustrating a method of detecting signal interference in a distance measuring apparatus using a lidar as a preferred embodiment of the present invention.
  • the distance measuring apparatus using a lidar may include a signal interference device in one form or may be additionally used in a separate form.
  • a method of performing signal interference detection using a signal interference device in a distance measuring apparatus using a lidar is described with reference to FIG. 6.
  • a first wavelength is generated from the LADAR laser light source (S610).
  • the first wavelength is a wavelength used for distance measurement, and is characterized by having a very narrow pulse width. While generating the first wavelength in the LADAR laser light source, at least one laser light source generates a wavelength different in magnitude from the first wavelength (S620).
  • Generating a first wavelength in the LADAR laser light source (S610) and generating a wavelength having a different magnitude of the first wavelength and the pulse width from the at least one laser light source (S620) may be simultaneously implemented.
  • the at least one laser light source may use a low cost laser light source having a large pulse width, or may use various laser light sources having a different magnitude of the first wavelength and the pulse width.
  • the control unit detects a pattern generated by the plurality of wavelengths by receiving at least one or more wavelengths different in magnitude from the first wavelength, the first wavelength, and the pulse width during the period T (S630).
  • the controller may use a predetermined period, a period of the wavelength oscillated by the LADAR laser light source, or a period of the wavelength oscillated by any laser light source among at least one or more laser light sources.
  • the controller recognizes the pattern by learning the pattern repeatedly detected every period T. Thereafter, it is determined whether the recognized pattern matches the pattern read during the current period T (S640). If the pattern does not match, it is determined that interference has occurred in the signal oscillated by the LADAR laser light source, and the data of the wavelength read during the current period T is discarded. If the patterns match, the pattern of the next period T is read.
  • FIG. 7 is a flowchart illustrating a method of detecting signal interference in a distance measuring apparatus using a lidar according to another preferred embodiment of the present invention.
  • a first wavelength is generated from the LADAR laser light source (S710).
  • the first wavelength is a wavelength used for distance measurement, and is characterized by having a very narrow pulse width. While generating the first wavelength in the LADAR laser light source, a wavelength at which the peak value occurs in a frequency band different from the frequency band used by the peak value of the first wavelength in the at least one laser light source is generated (S720).
  • the controller detects a pattern generated by the plurality of wavelengths by receiving at least one or more wavelengths using a first wavelength and a frequency band different from the first wavelength during the period T (S730).
  • the controller may use a predetermined period, a period of the wavelength oscillated by the LADAR laser light source, or a period of the wavelength oscillated by any laser light source among at least one or more laser light sources.
  • the controller determines whether the pattern read in the current period T coincides with the pattern repeatedly detected for each previous period T. If there is a match, the pattern is read at the next period T, and if it is not matched, it is determined that the signal has been interfered (S750).

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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

Selon un exemple de mode de réalisation de la présente invention, un appareil de détection d'interférence de signaux comprend : une source de lumière laser pour générer une première longueur d'onde ; au moins une source de lumière laser pour générer une longueur d'onde d'une taille différente de la taille de la première longueur d'onde ; et une unité de commande pour faire osciller, dans un même cycle T, la source de lumière laser pour générer la première longueur d'onde et l'au moins une source de lumière laser pour générer la longueur d'onde de la taille différente de la taille de la première longueur d'onde, l'unité de commande détectant, dans chaque cycle T, un motif produit par la première longueur d'onde et les longueurs d'onde des tailles différentes de la taille de la première longueur d'onde qui oscillent dans le cycle T.
PCT/KR2016/002841 2016-01-08 2016-03-22 Appareil et procédé de détection d'interférence de signaux WO2017119547A1 (fr)

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WO2020028138A1 (fr) * 2018-08-02 2020-02-06 Uber Technologies, Inc. Conception de système lidar pour atténuer la diaphonie lidar

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KR102030458B1 (ko) 2017-10-25 2019-11-08 현대오트론 주식회사 라이다 신호 처리 장치 및 처리 방법

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Publication number Priority date Publication date Assignee Title
WO2020028138A1 (fr) * 2018-08-02 2020-02-06 Uber Technologies, Inc. Conception de système lidar pour atténuer la diaphonie lidar
US11609314B2 (en) 2018-08-02 2023-03-21 Uatc, Llc Lidar system design to mitigate Lidar cross-talk
US11796653B2 (en) 2018-08-02 2023-10-24 Uatc, Llc Detecting and tracking Lidar cross-talk

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