WO2019188326A1 - Dispositif capteur - Google Patents

Dispositif capteur Download PDF

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Publication number
WO2019188326A1
WO2019188326A1 PCT/JP2019/010495 JP2019010495W WO2019188326A1 WO 2019188326 A1 WO2019188326 A1 WO 2019188326A1 JP 2019010495 W JP2019010495 W JP 2019010495W WO 2019188326 A1 WO2019188326 A1 WO 2019188326A1
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WO
WIPO (PCT)
Prior art keywords
light
reception signal
received
period
reflected light
Prior art date
Application number
PCT/JP2019/010495
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English (en)
Japanese (ja)
Inventor
誠 松丸
雄悟 石川
宏 永田
竹村　到
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to JP2020509887A priority Critical patent/JPWO2019188326A1/ja
Publication of WO2019188326A1 publication Critical patent/WO2019188326A1/fr
Priority to JP2023027127A priority patent/JP2023075170A/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—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
    • 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
    • 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 relates to a sensor device such as a lidar (LiDAR: Light Detection And Ranging).
  • a sensor device such as a lidar (LiDAR: Light Detection And Ranging).
  • lidars are used as sensors for detecting obstacles and traveling road surfaces around moving bodies such as vehicles in ADAS (Advanced Driver Assistance Systems) and automatic driving.
  • the lidar is a sensor that detects an obstacle or the like existing in front of the moving object by irradiating laser light in front of the moving object and receiving reflected light from an object existing in front of the moving object (for example, a patent) Reference 1).
  • the lidar detects an object such as an obstacle by receiving the reflected light of the irradiated laser beam.
  • various disturbance lights other than the reflected light of the irradiated laser beam are incident on the lidar and erroneous detection is caused by the disturbance light.
  • Patent Document 2 discloses that an adder circuit 23 includes a plurality of light receiving elements arranged within a predicted range of an imaging position corresponding to the irradiation direction of the laser light LT. A plurality of output analog detection signals are selected, and the selected analog detection signals are added together to output an analog reception signal. By doing so, it is described that erroneous detection of extraneous light components can be prevented even in an environment where ambient light components are received.
  • An example of a problem to be solved by the present invention is that false detection due to ambient light can be reduced.
  • the invention according to claim 1 is configured to receive light received from outside including an irradiation unit that intermittently emits light and scans a predetermined region, and reflected light of the light.
  • a sensor having a light receiving unit that outputs a signal, and a control in the light receiving unit that restricts use of the light reception signal during a period of receiving the reflected light based on a light reception signal level during a period of not receiving the reflected light. And a section.
  • the invention according to claim 3 is an irradiation unit that intermittently irradiates light to scan a predetermined region, a light receiving unit that receives light from the outside including reflected light of the light and outputs a light reception signal, And a control unit that restricts light irradiation from the irradiation unit based on a light reception signal level during a period in which the reflected light is not received in the light receiving unit.
  • the invention according to claim 5 is an irradiation unit that intermittently irradiates light to scan a predetermined region, a light receiving unit that receives light from the outside including reflected light of the light and outputs a light reception signal, And a generating unit that generates restriction information for restricting use of the light reception signal during a period of receiving the reflected light based on a light reception signal level during a period of not receiving the reflected light in the light receiving unit. It is characterized by providing these.
  • the invention according to claim 7 is an irradiation unit that intermittently irradiates light to scan a predetermined region, a light receiving unit that receives light from the outside including reflected light of the light and outputs a light reception signal,
  • a sensor control method executed by a sensor device including: limiting the use of the received light signal during a period of receiving the reflected light based on a received light signal level of the light receiving unit during a period of not receiving the reflected light. It is characterized by including a control process.
  • the invention according to claim 8 is characterized in that the sensor control method according to claim 7 is executed by a computer.
  • the invention according to claim 9 is an irradiation unit that intermittently irradiates light to scan a predetermined region, a light receiving unit that receives light from the outside including reflected light of the light and outputs a light reception signal,
  • a sensor control method executed by a sensor device including: a control step of limiting light irradiation from the irradiation unit based on a light reception signal level of the light receiving unit during a period of not receiving the reflected light. It is characterized by.
  • the invention according to claim 10 is characterized in that the sensor control method according to claim 9 is executed by a computer.
  • the invention according to claim 11 is an irradiation unit that intermittently irradiates light to scan a predetermined region, a light receiving unit that receives light from the outside including reflected light of the light and outputs a light reception signal,
  • a sensor control method executed by a sensor device including: limiting the use of the received light signal during a period of receiving the reflected light based on a received light signal level of the light receiving unit during a period of not receiving the reflected light And a generation step of generating restriction information for the purpose.
  • the invention according to claim 12 is characterized in that the sensor control method according to claim 10 is executed by a computer.
  • FIG. 1 is a timing chart in a case where use of a light reception signal received by a light receiving element of a lidar illustrated in FIG. 1 is not limited.
  • 2 is a timing chart in the case of limiting the use of a light reception signal received by a light receiving element of a lidar shown in FIG.
  • It is a flowchart of the operation
  • It is a timing chart in the case of outputting the light reception signal received with the light receiving element of the lidder concerning the 2nd example of the present invention, and restriction information.
  • 6 is a flowchart of the operation of the lidar shown in FIG.
  • FIG. 8 is a timing chart when laser light irradiation is not limited from the light source of the lidar shown in FIG. 7.
  • FIG. It is a timing chart in the case of restrict
  • movement of the rider shown by FIG. It is explanatory drawing which shows the structural example of the rider concerning the 4th Example of this invention.
  • 12 is a timing chart in a case where use of a light reception signal received by the light receiving element of the lidar illustrated in FIG. 11 is not limited.
  • FIG. 12 is a timing chart in a case where use of a light reception signal received by the light receiving element of the lidar illustrated in FIG. 11 is limited.
  • FIG. 12 is a timing chart in another case where the use of the light reception signal received by the light receiving element of the lidar shown in FIG. 11 is limited.
  • FIG. 15 is a flowchart of the operation of the rider shown in FIG. 14.
  • FIG. 20 It is a flowchart of the operation
  • movement of the lidar shown by FIG. 20 is a flowchart of the operation of the lidar shown in FIGS. 18 and 19. It is explanatory drawing which shows the structural example of the lidar concerning the 6th Example of this invention.
  • FIG. 23 is a timing chart when laser light irradiation is not limited from the light source of the lidar shown in FIG. 22.
  • FIG. 23 is a timing chart in the case of restricting laser light irradiation from the light source of the lidar shown in FIG. 22.
  • a sensor device includes an irradiation unit that intermittently irradiates light and scans a predetermined region, and a light reception unit that receives external light including reflected light of the light and outputs a light reception signal. And a control unit that restricts the use of the received light signal during the period of receiving the reflected light based on the received light signal level during the period of not receiving the reflected light. By doing so, it can be determined that disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In such a case, restrictions such as not using the light reception signal output by the light receiving unit Can do. Therefore, erroneous detection due to disturbance light can be reduced.
  • control unit may determine the effectiveness of using the light reception signal during the period of receiving the reflected light when the light reception signal level during the period of not receiving the reflected light is equal to or higher than a predetermined threshold. By doing so, it is determined that the ambient light is received when the level of the received light signal during the period in which the reflected light is not received is equal to or higher than the threshold, and the effectiveness of using the received light signal output by the light receiving unit is determined. it can.
  • a sensor device includes an irradiation unit that intermittently irradiates light and scans a predetermined region, and receives external light including reflected light of the light and receives a light reception signal.
  • a sensor having an output light receiving unit; and a control unit that restricts light irradiation from the irradiation unit based on a light reception signal level in a period in which the reflected light is not received in the light receiving unit. By doing so, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In that case, the light is not irradiated from the irradiation unit. be able to.
  • control unit may limit the irradiation of light from the irradiation unit when the light reception signal level during the period in which the reflected light is not received becomes a predetermined threshold value or more. By doing this, it is determined that disturbance light is received when the light reception signal level during the period in which the reflected light is not received is equal to or greater than a threshold value, and the light is not irradiated from the irradiation unit. be able to.
  • a sensor device includes an irradiation unit that intermittently irradiates light to scan a predetermined region, and receives light from the outside including reflected light of the light and receives a light reception signal.
  • a sensor having an output light receiving unit, and the light receiving unit generate restriction information for restricting use of the light reception signal during the period of receiving the reflected light based on the light reception signal level during the period of not receiving the reflected light.
  • a generation unit In this way, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In this case, for example, by generating and outputting restriction information such as a flag. The use of the received light signal can be restricted with reference to the flag in the subsequent processing.
  • control unit may output the restriction information when the light reception signal level during the period in which the reflected light is not received becomes a predetermined threshold value or more. In this way, when light having an intensity equal to or higher than a threshold value is received during a period in which reflected light is not received, it is possible to recognize that disturbance light has been received and generate restriction information.
  • the sensor control method includes an irradiation unit that intermittently irradiates light to scan a predetermined region, and receives light from the outside including reflected light of the light and receives a light reception signal.
  • the above-described sensor control method may be executed by a computer. By doing so, it can be determined that ambient light is received from the level of the received light signal during the period when the reflected light is not received. In this case, the use of the received light signal output by the light receiving unit using a computer is used. It is possible to limit such as preventing Therefore, erroneous detection due to disturbance light can be reduced.
  • a sensor control method includes an irradiation unit that intermittently irradiates light and scans a predetermined region, and receives light from the outside including reflected light of the light and receives a light reception signal.
  • a sensor control method executed by a sensor device having a light receiving unit that outputs light, and controls light irradiation from the irradiating unit based on a light receiving signal level during a period in which the reflected light is not received in the light receiving unit. It includes a process. By doing so, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received.
  • the light is not irradiated from the irradiation unit. be able to.
  • the light irradiation is stopped, and by receiving a waveform that is different from the received light signal from the reflected light of the irradiation light, it is possible to perform filtering, such as judging a waveform with a different shape as noise, and due to disturbance light. False detection can be reduced.
  • the above-described sensor control method may be executed by a computer. By doing so, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In this case, the light from the irradiation unit is not irradiated using the computer. Etc. can be restricted.
  • a sensor control method includes an irradiation unit that intermittently irradiates light and scans a predetermined region, and receives light from the outside including reflected light of the light and receives a light reception signal.
  • a sensor control method executed by a sensor device having a light receiving unit that outputs the reflected light based on a light receiving signal level of the light receiving unit during which the reflected light is not received.
  • Generating a restriction information for restricting use of the light reception signal In this way, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In this case, for example, by generating and outputting restriction information such as a flag. The use of the received light signal can be restricted with reference to the flag in the subsequent processing.
  • the above-described sensor control method may be executed by a computer. By doing so, it can be determined that disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In this case, limit information such as a flag is generated using a computer. Output, the use of the received light signal can be limited with reference to the flag at the time of processing in the subsequent stage.
  • a sensor device according to a first embodiment of the present invention will be described with reference to FIGS.
  • a rider 1 as a sensor device is mounted on a vehicle as a moving body, for example.
  • the rider 1 detects a road surface, an obstacle on the road, and the like by irradiating a predetermined area with light and receiving the reflected light.
  • the configuration of the lidar 1 is shown in FIG.
  • the lidar 1 includes a light source 11, a collimating lens 12, a beam splitter 13, a MEMS mirror 14, a light projecting / receiving lens 15, a condensing lens 16, a light receiving element 17, and a control unit. 18 and a photo detector 19.
  • the light source 11 as an irradiating unit is constituted by a laser diode, for example.
  • the light source 11 emits (irradiates) laser light having a predetermined wavelength intermittently in a pulse shape.
  • the collimating lens 12 converts the laser light emitted from the light source 11 into a parallel light beam.
  • the beam splitter 13 outputs the laser light converted into parallel light by the collimator lens 12 to the MEMS mirror 14 and reflects the incident light reflected by the MEMS mirror 14 toward the condenser lens 16.
  • the MEMS mirror 14 scans the laser beam emitted from the beam splitter 13 in the horizontal direction and the vertical direction toward the region where the object 100 exists.
  • the object 100 indicates, for example, a road surface or an obstacle.
  • the MEMS mirror 14 reflects incident light, which is incident on the light projecting / receiving lens 15, from the light reflected by the object 100 to the beam splitter 13.
  • the MEMS mirror 14 is a mirror constituted by MEMS (Micro Electro Mechanical Systems), and is driven by an actuator (not shown) formed integrally with the mirror.
  • the MEMS mirror 14 may be other beam deflecting means such as a galvanometer mirror or a polygon mirror.
  • the light projecting / receiving lens 15 irradiates (projects) the laser beam reflected by the MEMS mirror 14 to the area where the object 100 exists.
  • reflected light which is laser light reflected by the object 100, is incident (received) as incident light on the light projecting / receiving lens 15.
  • the condensing lens 16 is provided between the beam splitter 13 and the light receiving element 17 and condenses the reflected light reflected by the beam splitter 13 onto the light receiving element 17.
  • the light receiving element 17 as a light receiving unit receives the reflected light collected by the condenser lens 16.
  • the light receiving element 17 is constituted by, for example, one (single pixel) avalanche photodiode (APD).
  • the light receiving element 17 outputs a signal (light receiving signal) having a level corresponding to the intensity of the received light.
  • the control unit 18 restricts the use of the light reception signal received by the light receiving element 17 based on the light received by the photodetector 19. Further, when the use is not restricted, the control unit 18 outputs the light reception signal received by the light receiving element 17 to, for example, an ADAS or an automatic operation control device.
  • the control unit 18 is constituted by a microcomputer having, for example, a CPU (Central Processing Unit). Alternatively, a logic device such as FPGA (Field-Programmable Gate Array) may be used.
  • the photodetector 19 receives the light in the direction of the object 100 as with the light projecting / receiving lens 15. That is, it is only necessary to receive light in a region including a predetermined region where laser light is scanned.
  • the photodetector 19 outputs the received light intensity to the control unit 18 as a luminance value.
  • the photo detector 19 will be described as the second sensor. However, a camera or the like may be used in place of the photo detector 19. In short, light including the wavelength of the reflected light of the laser light emitted from the light source 11 is received. (Image capture)
  • the photodetector 19 is not limited to being newly installed, and may be a sensor such as an in-vehicle camera or a light receiving element that has already been installed.
  • a filter or the like that selectively transmits the wavelength of the laser light emitted by the light source 11 is used. You may have.
  • the lidar 1 can acquire the state of the object 100 in the scanning region as a point cloud by irradiating laser light intermittently so as to scan a predetermined region.
  • the light source 11, the collimating lens 12, the beam splitter 13, the MEMS mirror 14, the light projecting / receiving lens 15, the condensing lens 16, and the light receiving element 17 are used as the first sensor.
  • the photodetector 19 functions as a second sensor.
  • FIG. 2 is a timing chart when the use of the received light signal received by the light receiving element 17 is not limited.
  • the light source 11 irradiates pulsed light intermittently at a predetermined interval.
  • the light receiving element 17 receives the reflected light of the pulsed light.
  • the photo detector indicates the luminance value of the light received by the photo detector 19.
  • the control unit 18 outputs the light reception signal of the light receiving element 17 as it is.
  • FIG. 3 is a timing chart in the case where the use of the received light signal received by the light receiving element 17 is restricted.
  • the waveforms of the light source 11 and the light receiving element 17 are the same as those in FIG. 2, but the luminance value of the light received by the photodetector 19 is equal to or higher than a predetermined threshold between time t1 and time t2, so the control unit 18 Does not output the light reception signal of the light receiving element 17 between time t1 and time t2.
  • the luminance value of the light received by the photodetector 19 is greater than or equal to the threshold value between time t1 and time t2, and transient disturbance light other than reflected light (for example, lightning, camera flash, fireworks, etc.) Therefore, it is determined that the light reception signal of the light receiving element 17 between time t1 and time t2 has a high possibility of erroneously detecting light other than the reflected light, and the light reception signal of the light receiving element 17 is gated. (Masking). That is, the light reception signal of the light receiving element 17 between time t1 and time t2 is restricted from being used in subsequent processing.
  • the flowchart of FIG. 4 is executed by the control unit 18. Moreover, it can be set as a sensor control program by comprising the flowchart shown in FIG. 4 as a program performed with CPU of the control part 18.
  • FIG. 4
  • step S11 a light reception signal is acquired from the photo detector 19.
  • step S12 the luminance value of the light reception signal acquired in step S11 is calculated. That is, in step S12, the intensity of light received by the photodetector 19 is calculated.
  • step S13 it is determined whether or not the luminance value calculated in step S12 is equal to or greater than the above-described predetermined threshold value. If it is equal to or greater than the threshold value (in the case of YES), the light reception is performed in step S14 as described above.
  • the light reception signal of the element 17 is gated.
  • step S13 when it can be determined from the luminance value that strong disturbance light that affects the operation of the lidar 1 has been detected, the received light signal is gated. That is, the control unit 18 restricts the use of the light reception signal output from the light receiving element 17 when the intensity of the light received by the photodetector 19 exceeds a predetermined threshold value. Therefore, steps S11 to S14 function as a control process.
  • step S13 when the luminance value calculated in step S12 is less than the threshold value (in the case of NO), the light reception signal of the light receiving element 17 is not gated in step S15.
  • the lidar 1 includes a light source 11 that irradiates a laser beam and scans a predetermined range, and a light receiving element 17 that receives reflected light of the laser beam and outputs a light reception signal. Further, a control unit 18 that acquires a light reception signal of a photodetector 19 that receives light in a region including a range scanned by light from the light source 11 and restricts use of the light reception signal output from the light reception unit based on the light reception signal. And. In this way, when the photodetector 19 captures disturbance light such as lightning or a camera flash, the light reception signal output from the light receiving element 17 is gated based on the result of the disturbance light reception of the photodetector 19. It is possible to restrict such as doing. Therefore, erroneous detection due to disturbance light can be reduced.
  • a control unit 18 that acquires a light reception signal of a photodetector 19 that receives light in a region including a range scanned by light from the light source 11 and restrict
  • control unit 18 gates the light reception signal output from the light receiving element 17 when the luminance value of the light received by the photodetector 19 becomes equal to or higher than a predetermined threshold value. In this way, when the photodetector 19 receives a luminance value equal to or higher than the threshold value, it is possible to gate the light reception signal output from the light receiving element 17 by recognizing that the ambient light has been received.
  • a lidar 1 according to a second embodiment of the present invention will be described with reference to FIGS.
  • the same parts as those in the first embodiment described above are denoted by the same reference numerals and description thereof is omitted.
  • the use of the light reception signal of the light receiving element 17 is limited based on the light received by the photodetector 19, but in this embodiment, the use of the light reception signal is based on the light received by the photodetector 19.
  • a flag signal is output as restriction information for restriction.
  • FIG. 5 shows a timing chart in the case of outputting the light reception signal received by the light receiving element of the lid and the restriction information according to this embodiment.
  • the received light signal of the receiving element 17 is output as it is, and a flag signal corresponding to the period from time t1 to time t2 when transient disturbance light other than reflected light is incident is displayed.
  • # 1 to # 4 of the light receiving period are the light receiving periods of the reflected light corresponding to the pulsed light emitted from the light source.
  • the signal processing period indicates a signal processing period at the output destination of the control unit 18.
  • the signal processing period is a period between the end of the corresponding light receiving period and the start of the next light receiving period. However, the signal processing period may be started during the light receiving period or at the start of the light receiving period.
  • the flag signal is set to ON when disturbance light is received.
  • the flag signal is in an ON state, and therefore control is performed so that it is not used in subsequent processing. Can do.
  • the flowchart of FIG. 6 is executed by the control unit 18. Moreover, it can be set as a sensor control program by comprising the flowchart shown in FIG. 6 as a program performed with CPU of the control part 18.
  • FIG. 6
  • step S21 it is determined whether or not it is a period in which the light receiving element 17 receives reflected light. If it is a period for receiving light (YES), the process proceeds to step S22, and if it is a period in which no light is received (NO). Advances to step S28.
  • step S22 it is determined whether or not the flag signal is OFF. If ON (NO), the process returns to step S21. On the other hand, in the case of OFF (in the case of YES), the process proceeds to step S23, and a light reception signal is acquired from the photodetector 19 as in step S11 of FIG. In step S24, the luminance value of the received light signal obtained in step S23 is calculated in the same manner as in step S12 in FIG.
  • step S25 when the luminance value calculated in step S24 is equal to or more than the predetermined threshold value described above (in the case of YES), the flag signal is turned ON in step S26 as described above. That is, the control unit 18 generates restriction information for restricting the use of the light reception signal output from the light receiving unit when the intensity of the light received by the photodetector 19 exceeds a predetermined threshold value. Accordingly, steps S23 to S26 function as a generation process.
  • step S25 when the luminance value calculated in step S24 is less than the threshold value (in the case of NO), the flag signal is turned OFF in step S27.
  • step S28 since it is determined that the reflected light is not received in step S21, a flag signal is output to a signal processing unit or the like at the subsequent stage.
  • step S29 it is determined whether or not a signal indicating that the signal processing is completed is received from the subsequent signal processing unit or the like. If received, the flag signal is turned off in step S2A.
  • the lidar 1 includes a light source 11 that irradiates a laser beam and scans a predetermined range, and a light receiving element 17 that receives reflected light of the laser beam and outputs a light reception signal. Further, a light reception signal of a photodetector 19 that receives light in a region including a range scanned by light from the light source 11 is acquired, and use of the light reception signal output from the light receiving element 17 based on the light reception signal is limited. And a control unit 18 that generates a flag signal. In this way, when the photodetector 19 receives disturbance light such as lightning or a camera flash, for example, a flag signal is generated and output, thereby referring to the flag in the subsequent processing. Use of the received light signal can be limited.
  • control unit 18 outputs a flag signal when the luminance value of the light received by the photodetector 19 becomes equal to or higher than a predetermined threshold value. In this way, when the photodetector 19 receives light having an intensity equal to or higher than the threshold, it can be recognized that disturbance light has been received and a flag signal can be generated.
  • the flag signal may be used as the reliability of object recognition as well as restricting the use of the light signal of the light receiving element 17 as the flag signal. For example, when the flag signal is ON, there is disturbance light that exceeds a predetermined threshold value, so the reliability of object recognition decreases. When the flag signal is OFF, there is no disturbance light that exceeds a predetermined threshold value, so the reliability of object recognition is high. Can be raised.
  • a lidar 1A according to a third embodiment of the present invention will be described with reference to FIGS.
  • the same parts as those in the first and second embodiments described above are denoted by the same reference numerals and description thereof is omitted.
  • the use of the light reception signal of the light receiving element 17 is limited based on the light received by the photodetector 19, but in this embodiment, the laser light from the light source 11 is based on the light received by the photodetector 19. Limit the exposure. That is, the control unit 18 acquires a light reception signal received by the photodetector 19 that captures an area including a scanning range, and restricts irradiation from the light source 11 based on the light reception signal.
  • FIG. 7 is a configuration diagram of the lidar 1A according to the present embodiment.
  • the configuration shown in FIG. 7 is different from FIG. 1 in that the light source 11 is connected to the control unit 18 instead of the light receiving element 17.
  • FIG. 8 is a timing chart when laser light irradiation from the light source 11 is not limited, and is the same as FIG. 2 except that there is no control unit output of FIG.
  • FIG. 9 is a timing chart in the case where the irradiation of the laser beam from the light source 11 is limited.
  • the control unit 18 since the luminance value in the light received by the photodetector 19 is equal to or greater than a predetermined threshold between time t1 and time t2, the control unit 18 performs laser light from the light source 11 between time t1 and time t2. Will not be irradiated.
  • the luminance value of the light received by the photodetector 19 is greater than or equal to the threshold value between time t1 and time t2, and transient disturbance light other than reflected light (for example, lightning, camera flash, fireworks, etc.) Therefore, it is determined that there is a high possibility that light other than the reflected light is erroneously detected between time t1 and time t2, and irradiation from the light source 11 is stopped.
  • the flowchart of FIG. 10 is executed by the control unit 18. Moreover, it can be set as a sensor control program by comprising the flowchart shown in FIG. 10 as a program performed with CPU of the control part 18.
  • FIG. 10
  • Steps S11 to S13 are the same as those in the flowchart of FIG.
  • step S13 when the luminance value calculated in step S12 is equal to or greater than the predetermined threshold value described above (in the case of YES), in step S14B, the irradiation of the laser light from the light source 11 is stopped as described above. That is, the control unit 18 limits the irradiation from the light source 11 when the intensity of the light received by the photodetector 19 exceeds a predetermined threshold value. Accordingly, steps S11 to S14B function as a control process.
  • step S13 when the luminance value calculated in step S12 is less than the threshold value (in the case of NO), the laser light irradiation from the light source 11 is not stopped in step S15B.
  • the lidar 1 includes a light source 11 that irradiates a laser beam and scans a predetermined range, and a light receiving element 17 that receives reflected light of the laser beam and outputs a light reception signal. Further, a control unit that acquires a light reception signal received by a photodetector 19 that captures an image of an area including a range scanned by light from the light source 11 and restricts irradiation of laser light from the light source 11 based on the light reception signal. 18. In this way, when the photodetector 19 captures disturbance light such as lightning or a camera flash, the laser light from the light source 11 is not irradiated based on the result of disturbance light imaging of the photodetector 19. Etc.
  • the laser light irradiation is stopped, and a waveform different from the received light signal by the reflected light of the irradiation light is received, so that it is possible to perform filtering such as determining the waveform having a different shape as noise. It is possible to reduce false detection due to.
  • control unit 18 restricts the irradiation from the light source 11 when the luminance value of the light received by the photodetector 19 becomes a predetermined threshold value or more. In this way, when the photodetector 19 receives a luminance value that is equal to or greater than the threshold value, it can be recognized that ambient light has been received, and irradiation from the light source 11 can be limited.
  • a lidar 1B according to a fourth embodiment of the present invention will be described with reference to FIGS.
  • the same parts as those in the first to third embodiments described above are denoted by the same reference numerals and description thereof is omitted.
  • the light reception signal of the light receiving element 17 is gated based on the light received by the photodetector 19.
  • the photodetector 19 is not used and the reflected light from the light receiving element 17 is not received.
  • the light reception signal in the period for receiving the reflected light thereafter is gated. That is, the control unit 18 restricts the use of the light reception signal during the period of receiving the reflected light in the light receiving element 17 based on the light reception signal level during the period of not receiving the reflected light.
  • FIG. 11 is a configuration diagram of the lidar 1B according to the present embodiment.
  • the configuration shown in FIG. 11 is different from the configuration shown in FIG. 1 in that the photo detector 19 is omitted.
  • FIG. 12 is a timing chart when the use of the received light signal received by the light receiving element 17 is not limited.
  • a light source 11 emits pulsed light at a predetermined interval.
  • the light receiving element 17 receives the reflected light of the pulsed light.
  • the light receiving periods # 1 to # 4 are light receiving periods of reflected light corresponding to the pulsed light emitted from the light source.
  • the control part 18 outputs the light received signal of the light receiving element 17 as it is.
  • FIG. 13 is a timing chart in the case where the use of the received light signal received by the light receiving element 17 is restricted.
  • the waveform of the light source 11 is the same as that in FIG. 12, but between time t ⁇ b> 3 and time t ⁇ b> 4 due to the incidence of transient disturbance light other than reflected light (for example, lightning, camera flash, fireworks, etc.).
  • the light reception signal level of the light receiving element 17 has risen above the threshold.
  • the light reception signal received at the timing of receiving the reflected light immediately after time t3 to time t4 has a high possibility of erroneously detecting light other than the reflected light, and the light reception signal of the light receiving element 17 is gated (masked). )is doing. That is, the light reception signal of the light receiving element 17 between time t3 and time t4 is not used in the subsequent processing.
  • FIG. 14 is a timing chart in the case where the use of the light reception signal received by the light receiving element 17 is limited. 14, the waveform of the light source 11 is the same as that in FIG. 12, but transient disturbance light other than reflected light is incident. It is assumed that the disturbance light in FIG. 14 has a smaller light quantity and a lower light receiving level than those in FIG. In this case, the light reception signal level of the light receiving element 17 rises above the threshold value between time t3 'and time t4', which is the timing when no reflected light is received.
  • the light reception signal received at the timing of receiving the reflected light immediately after time t3 ′ to time t4 ′ is highly likely to erroneously detect light other than the reflected light.
  • 17 received light signals are gated (masked). That is, the light receiving signal of the light receiving element 17 during the light receiving period # 3 is not used in the subsequent processing.
  • the threshold can be reduced.
  • FIGS. 15 and 16 are executed by the control unit 18. Moreover, it can be set as a sensor control program by comprising the flowchart shown in FIG.15 and FIG.16 as a program run with CPU of the control part 18.
  • FIG. FIG. 15 is a flowchart corresponding to the timing chart shown in FIG.
  • step S31 the light reception signal level of the light receiving element 17 is acquired.
  • step S32 it is determined whether or not the light reception signal level acquired in step S31 is equal to or higher than a predetermined threshold value.
  • step S33 the light receiving signal of the light receiving element 17 is limited (gated) as described above.
  • step S33 when it can be determined from the received light signal level that strong disturbance light that affects the operation of the lidar 1B has been detected, the effectiveness of using the received light signal during the period of receiving the reflected light immediately after is determined.
  • the light reception signal is gated.
  • step S32 when the light reception signal level acquired in step S31 is less than the threshold value (in the case of NO), the light reception signal of the light receiving element 17 is not limited (gated) in step S34.
  • step S41 it is determined whether or not it is a period in which the light receiving element 17 does not receive reflected light. If it is a period for receiving light (NO), the process waits in this step, and if it is a period for not receiving light (in the case of YES). ) Acquires the light receiving signal level of the light receiving element 17 in step S42.
  • step S43 it is determined whether or not the light reception signal level acquired in step S42 is greater than or equal to a predetermined threshold value. If it is greater than or equal to the threshold value (in the case of YES), in step S44, the light reception signal is received as described above. The light reception signal of the element 17 is limited (gated). In step S43, when it can be determined that strong disturbance light that affects the operation of the lidar 1B is detected from the light reception signal level during the period in which the reflected light is not received, the use of the light reception signal in the period in which the reflected light is received immediately thereafter. The light reception signal is gated by judging the effectiveness of the signal.
  • control unit 18 determines the effectiveness of the use of the light reception signal during the period of receiving the reflected light when the light reception signal level during the period of not receiving the reflected light exceeds a predetermined threshold. Accordingly, steps S41 to S44 function as a control process.
  • step S43 when the light reception signal level acquired in step S42 is less than the threshold value (in the case of NO), the light reception signal of the light receiving element 17 is not gated in step S45.
  • the lidar 1B receives the laser beam from the outside including the light source 11 that intermittently irradiates the laser beam and scans a predetermined area, and the reflected light of the laser beam, and outputs the received light signal.
  • a control unit 18 that restricts the use of the received light signal during the period of receiving the reflected light based on the received light signal level during the period of not receiving the reflected light. . By doing so, it can be determined that the disturbance light is received from the light reception signal level during the period when the reflected light is not received. In this case, the light reception signal output from the light receiving element 17 is not used. You can make a limit. Therefore, erroneous detection due to disturbance light can be reduced.
  • control unit 18 determines the effectiveness of using the received light signal during the period of receiving the reflected light when the received light signal level during the period of not receiving the reflected light is equal to or higher than a predetermined threshold. By doing this, it is determined that the ambient light is received when the level of the received light signal during the period in which the reflected light is not received is equal to or greater than the threshold value, and the use of the received light signal output from the light receiving unit of the first sensor. Effectiveness can be judged.
  • a lidar 1B according to a fifth embodiment of the present invention will be described with reference to FIGS.
  • the same parts as those in the first to fourth embodiments described above are denoted by the same reference numerals and description thereof is omitted.
  • the use of the light receiving signal of the light receiving element 17 is limited based on the light receiving signal level during a period in which the reflected light is not received.
  • the flag signal is output as restriction information for restricting the use of the light reception signal during the period of receiving the reflected light based on the above.
  • the configuration of this embodiment is the same as that shown in FIG. 17 to 19 show timing charts in the case of outputting the light reception signal received by the light receiving element of the lid and the restriction information according to this embodiment.
  • the received light signal of the receiving element 17 is output as it is, and a flag signal corresponding to the period from time t1 to time t2 when transient disturbance light other than reflected light is incident is displayed. Output.
  • a flag signal is set in the signal processing periods (distance calculation, etc.) of # 1, # 2, and # 3 that are light receiving periods during the disturbance light period, and control is performed so that they are not used in subsequent processing. be able to.
  • FIG. 18 is a timing chart of a modification of the present embodiment.
  • the light receiving signal of the receiving element 17 is received between time t3 to time t4 and time t3 ′ to time t4 ′, which are timings when the reflected light is not received due to the incident of transient disturbance light other than the reflected light.
  • the level has risen above the threshold.
  • the flag signal is set from time t3 to time t4 and from time t3 ′ to time t4 ′, and control is performed so that the control unit output is not used in the processing in the signal processing period (distance calculation, etc.) related to the period. be able to.
  • the signal processing period is a period between the end of the corresponding light receiving period and the start of the next light receiving period. However, the signal processing period may be started during the light receiving period or at the start of the light receiving period.
  • the threshold value can be reduced.
  • FIG. 19 is a timing chart of a modification of the present embodiment.
  • the output of the flag signal is controlled based on the comparison result with the preceding and following signal processing period threshold values. For example, in # 1b of the signal processing period, the previous # 0b is less than the threshold value, but the current (# 1b) is equal to or greater than the threshold value, so the flag signal is set. In the next # 2b, the previous # 1b is equal to or greater than the threshold, and the current (# 2b) is also equal to or greater than the threshold, so the flag signal is set to ON. Further, in the next # 3b, the previous # 2b is equal to or greater than the threshold, but the current (# 3b) is less than the threshold, so the flag signal is set.
  • the previous # 3b is less than the threshold and the current (# 4b) is also less than the threshold, so the flag signal is reset.
  • the flag is set to ON when either the previous period or the current period is greater than or equal to the threshold value.
  • FIG. 20 is a flowchart corresponding to the timing chart shown in FIG.
  • step S51 it is determined whether the light receiving element 17 is in a period for receiving reflected light. If it is a period for receiving light (in the case of YES), the process proceeds to step S52, and if it is in a period for not receiving light (in the case of NO). Advances to step S57.
  • step S52 it is determined whether or not the flag signal is OFF. If ON (NO), the process returns to step S51. On the other hand, in the case of OFF (in the case of YES), the process proceeds to step S53, and the light reception signal level of the light receiving element 17 is acquired as in step S42 of FIG.
  • step S54 it is determined whether or not the light reception signal level acquired in step S53 is equal to or higher than a predetermined threshold value. If it is equal to or higher than the threshold value (in the case of YES), the flag signal is turned ON in step S55. To do.
  • step S54 when the light reception signal level acquired in step S53 is less than a predetermined threshold value (in the case of NO), the flag signal is turned OFF in step S56.
  • step S57 since it is determined that the reflected light is not received in step S51, a flag signal is output to a subsequent signal processing unit or the like.
  • step S58 it is determined whether or not a signal indicating that the signal processing has been completed is received from the subsequent signal processing unit or the like. If received, the flag signal is turned off in step S59.
  • Step S41 to S43 are the same as those in the flowchart of FIG.
  • step S44A when the received light signal level acquired in step S42 is equal to or higher than a predetermined threshold, in step S44A, the flag signal is turned on as described above.
  • step S43 when the light reception signal level acquired in step S42 is less than the threshold value (in the case of NO), the flag signal is turned OFF in step S45A.
  • the lidar 1B receives the laser beam from the outside including the light source 11 that intermittently irradiates the laser beam and scans a predetermined area, and the reflected light of the laser beam, and outputs the received light signal.
  • a light-receiving element 17 that controls the generation of a flag signal for limiting the use of the light-receiving signal output from the light-receiving element 17 based on the light-receiving signal level during a period in which the reflected light is not received. Part 18. By doing so, it can be determined that the disturbance light is received from the light reception signal level during the period in which the reflected light is not received. In this case, the flag signal is generated and output, so that processing in the subsequent stage is performed. The use of the received light signal can be restricted with reference to the flag at the time.
  • control unit 18 outputs a flag signal when the light reception signal level during a period in which the reflected light is not received becomes a predetermined threshold value or more. By doing so, it is possible to determine that the disturbance light is received when the light reception signal level during the period in which the reflected light is not received is equal to or higher than the threshold value, and to generate the flag signal.
  • the flag signal may be used as the reliability of object recognition.
  • a lidar 1C according to a sixth embodiment of the present invention will be described with reference to FIGS.
  • the same parts as those in the first to fifth embodiments described above are denoted by the same reference numerals and description thereof is omitted.
  • the use of the light receiving signal of the light receiving element 17 is limited based on the light receiving signal level during a period in which the reflected light is not received.
  • the light receiving signal level in the period in which the reflected light is not received Irradiating laser light from the light source 11 based on the above. That is, the control unit 18 restricts light irradiation from the light source 11 on the light receiving element 17 based on the light reception signal level during a period in which the reflected light is not received.
  • FIG. 22 is a configuration diagram of the lidar 1C according to the present embodiment.
  • the configuration shown in FIG. 22 is different from FIG. 11 in that the light source 11 is connected to the control unit 18 instead of the light receiving element 17.
  • FIG. 23 is a timing chart when laser light irradiation from the light source 11 is not restricted, and is the same as FIG. 12 except that there is no control unit output.
  • FIG. 24 is a timing chart when the irradiation of the laser beam from the light source 11 is limited.
  • the light-receiving element 17 has a period between time t5 and time t6 that is a timing at which reflected light is not received due to the incidence of transient disturbance light other than reflected light (for example, lightning, camera flash, fireworks, etc.).
  • the received light signal level has risen above the threshold. Therefore, it is determined that the received light signal received at the timing of receiving the reflected light immediately after time t5 to time t6 has a high possibility of erroneously detecting light other than the reflected light, and the irradiation from the light source 11 is stopped.
  • the flowchart of FIG. 25 is executed by the control unit 18. 25 can be configured as a program executed by the CPU of the control unit 18 to provide a sensor control program.
  • Steps S41 to S43 are the same as those in the flowchart of FIG.
  • step S43 when the light reception signal level acquired in step S42 is equal to or higher than a predetermined threshold value (in the case of YES), in step S44B, the irradiation of the laser light from the light source 11 is stopped as described above. That is, the control unit 18 restricts light irradiation from the irradiation unit when the light reception signal level during the period in which the reflected light is not received becomes equal to or higher than a predetermined threshold. Accordingly, steps S41 to S44B function as a control process.
  • step S43 when the light reception signal level acquired in step S42 is less than the threshold value (in the case of NO), irradiation of the laser light from the light source 11 is not stopped in step S45B.
  • the lidar 1C receives the laser light from the outside including the light source 11 that intermittently irradiates the laser light and scans a predetermined region, and the reflected light of the laser light, and outputs the light reception signal.
  • a control unit 18 that restricts the irradiation of the laser light from the light source 11 based on the light reception signal level during a period in which the reflected light is not received. By doing so, it can be determined that the disturbance light is received from the light reception signal level in the period in which the reflected light is not received. In that case, the light source 11 is not irradiated with light. be able to.
  • the laser light irradiation is stopped, and a waveform different from the received light signal by the reflected light of the irradiation light is received, so that it is possible to perform filtering such as determining the waveform having a different shape as noise. It is possible to reduce false detection due to.
  • control unit 18 may limit the irradiation of the laser light from the light source 11 when the light reception signal level during the period in which the reflected light is not received becomes a predetermined threshold value or more. By doing in this way, it can be judged that disturbance light is received when the received light signal level during the period in which the reflected light is not received is equal to or higher than the threshold value, so that the laser light from the irradiation unit of the first sensor is received. Limitations such as not allowing irradiation can be made.

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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

La présente invention permet de réduire toute détection erronée provoquée par une lumière parasite externe. Un lidar (1B) comprend : une source de lumière (11) qui émet par intermittence des faisceaux laser de façon à balayer une région prédéterminée; et un élément de réception de lumière (17) servant à recevoir une lumière laser provenant de l'extérieur comprenant la lumière réfléchie des faisceaux laser et qui délivre un signal de réception de lumière. Dans l'élément de réception de lumière (17), une unité de commande (18) est fournie, qui limite l'utilisation d'un signal de réception de lumière dans une période au cours de laquelle la lumière réfléchie est reçue, sur la base d'un niveau de signal de réception de lumière dans une période au cours de laquelle la lumière réfléchie n'est pas reçue.
PCT/JP2019/010495 2018-03-30 2019-03-14 Dispositif capteur WO2019188326A1 (fr)

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JPH09318736A (ja) * 1996-05-30 1997-12-12 Denso Corp 距離測定装置
JP2011247872A (ja) * 2010-04-27 2011-12-08 Denso Corp 距離測定装置、距離測定方法、および距離測定プログラム

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