[특허]Methods and apparatus for array based LiDAR systems with reduced interference

Big Sky Financial Corporation

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특허 상세정보

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내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Methods and apparatus for array based LiDAR systems with reduced interference

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01S-007/48 G01S-007/481 G01S-017/10 G01S-017/93 G01S-007/486
출원번호	US-0078001 (2013-11-12)
등록번호	US-10203399 (2019-02-12)
발명자 / 주소	Retterath, Jamie E. Laumeyer, Robert A.
출원인 / 주소	Big Sky Financial Corporation
대리인 / 주소	Patterson Thuente Pedersen, P.A.
인용정보	피인용 횟수 : 0 인용 특허 : 246

초록
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An array-based light detection and ranging (LiDAR) unit includes an array of emitter/detector sets configured to cover a field of view for the unit. Each emitter/detector set emits and receives light energy on a specific coincident axis unique for that emitter/detector set. A control system coupled to the array of emitter/detector sets controls initiation of light energy from each emitter and processes time of flight information for light energy received on the coincident axis by the corresponding detector for the emitter/detector set. The time of flight information provides imaging information corresponding to the field of view. Interference among light energy is reduced with respect to detectors in the LiDAR unit not corresponding to the specific coincident axis, and with respect to other LiDAR units and ambient sources of light energy. In one embodiment, multiple array-based LiDAR units are used as part of a control system for an autonomous vehicle.

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1. An array-based light detection and ranging (LiDAR) unit comprising: an array of at least one emitter/detector sets configured to cover a field of view for the unit, each emitter/detector set configured to emit and receive light energy on a specific coincident axis unique for that emitter/detector set; anda control system coupled to the array of emitter/detector sets to control initiation of light energy for a time of flight measurement from each emitter as an encoded sequence of at least three emitted pulses and to process time of flight information for light energy received on the coincident axis by one or more corresponding detectors for the emitter/detector set only if the encoded sequence is detected in the light energy received and computing the time of flight measurement based on the encoded sequence,wherein time of flight information for light energy corresponding to the array of emitter/detector sets provides imaging information corresponding to the field of view for the unit,wherein the encoded sequence is a multi-bit sequence of emitted pulses generated by the LiDAR unit that is distinct for the at least one emitter/detector sets for that LiDAR unit and is used by the control system to reduce interference from other LiDAR devices that are transmitting or reflecting energy at a target wavelength of the LiDAR unit. 2. An array-based light detection and ranging (LiDAR) unit comprising: an array of at least one emitter/detector sets configured to cover a field of view for the unit, each emitter/detector set configured to emit and receive light energy on a specific coincident axis unique for that emitter/detector set; anda control system coupled to the array of emitter/detector sets to control initiation of light energy for a time of flight measurement from each emitter as an encoded sequence of at least three emitted pulses and to process time of flight information for light energy received on the coincident axis by one or more corresponding detectors for the emitter/detector set only if the encoded sequence is detected in the light energy received and computing the time of flight measurement based on the encoded sequence,wherein time of flight information for light energy corresponding to the array of emitter/detector sets provides imaging information corresponding to the field of view for the unit, andwherein the array includes a plurality of emitter/detector sets and the encoded sequence is a multi-bit sequence of emitted pulses that is distinct for each emitter in the array such that interference among light energy corresponding to an emitter of the specific coincident axis of an emitter/detector set is reduced with respect to detectors in the LiDAR unit other than the at least one detector of the emitter/detector set corresponding to the specific coincident axis. 3. The array-based LiDAR unit of claim 1, wherein the control system controls initiation of light energy corresponding to multiple time of flight measurements and the encoded sequence is distinct for each time of flight measurement. 4. The array-based LiDAR unit of claim 1, wherein the array comprises a non-scanning, solid-state device having a multitude of emitter/detector sets arranged on a generally planer surface. 5. The array-based LiDAR unit of claim 4, wherein a number of emitter/detector sets ranges from a 16×16 array of emitter/detector sets to an array of 4096×4096 emitter/detector sets. 6. The array-based LiDAR unit of claim 1, wherein each of the at least one emitter/detector sets is a single pair of an emitter and a detector. 7. The array-based LiDAR unit of claim 1, wherein a single emitter is optically configured to provide on-coincident axis light energy to multiple different detectors in the at least one emitter/detector sets. 8. The array-based LiDAR unit of claim 1, wherein the control system comprises: a pulse generation controller configured to transmit the encoded sequence of pulses from each emitter; anda control unit configured to compute a time of flight measurement for light energy received at each of the corresponding on-coincident axis detectors only if the encoded sequence is detected in the light energy received and corresponding to the time of flight measurement. 9. The array-based LiDAR unit of claim 8, wherein the control unit includes a microprocessor unit (MPU) coupled to an output of at least one detector, the MPU being configured to analyze the light energy based on the output of the at least one detector. 10. The array based LiDAR unit of claim 9, wherein each of the at least one emitter/detector sets has a corresponding MPU unique to the emitter/detector set, and wherein the control system further comprises a processor coupled to each MPU to analyze information from the array of emitter/detector sets. 11. The array-based LiDAR unit of claim 7, wherein there is a unique on-coincident axis combination of the single emitter and one micro-lens for that emitter and a plurality of different detectors each associated with a different detector micro-lens, each common emitter and unique detector comprising a different emitter/detector set. 12. The array-based LiDAR unit of claim 1, wherein a macro field of view of the LiDAR unit is predetermined based on an optic configuration associated with each of the at least one of the sets of emitter/detectors. 13. The array-based LiDAR unit of claim 12, wherein the macro field of view of the LiDAR unit is established upon fabrication of a micro-lens array together with the array of emitter/detector sets comprising a non-scanning, solid-state device having a multitude of emitter/detector sets arranged on a generally planer surface to establish the unique on-coincident axis associated with each emitter/detector set. 14. The array-based LiDAR unit of claim 12, wherein the macro field of view is established by a global lensing arrangement that is adjustable and optically coupled with a non-scanning, solid-state device having a multitude of emitter/detector sets arranged on a generally planer surface. 15. The array-based LiDAR unit of claim 12, wherein each emitter/detector set includes an optical waveguide through which the light energy received for the on-coincident axis is directed to that emitter/detector set. 16. The array-based LiDAR unit of claim 1, wherein the light energy is emitted as collimated electromagnetic energy. 17. The array-based LiDAR unit of claim 1, wherein the light energy is selected from the wavelength ranges of: ultraviolet (UV)—100-400 nm, visible—400-700 nm, near infrared (NIR)—700-1400 nm, infrared (IR)—1400-8000 nm, long-wavelength IR (LWIR)—8 um-15 um, or far IR (FIR)—15 um-1000 um. 18. The array-based LiDAR unit of claim 1, wherein the array of the at least one of emitter/detector sets comprises a non-scanning, solid-state device having a multitude of emitter/detector sets arranged on a generally planer surface and each emitter/detector set has a unique microprocessor unit (MPU) coupled to an output of at least one detector of the emitter/detector set and the MPU is configured to analyze the light energy based on an output of the at least one detector of a given emitter/detector set and at least one secondary detector corresponding to the given emitter/detector set. 19. The array-based LiDAR unit of claim 18, wherein the at least one secondary detector includes a plurality of detectors in a concentric ring surrounding the given emitter/detector set in the array. 20. The array-based LiDAR unit of claim 19, wherein the MPU is further configured to analyze the light energy based on an output of at least a plurality of tertiary detectors corresponding to detectors in a second concentric ring surrounding the concentric ring formed by the at least one secondary detector. 21. The array-based LiDAR unit of claim 8, wherein the pulse generation circuit initiates generation of the encoded sequence as a pulse train for each emitter corresponding to each of the time of flight measurements of each of the at least one of the emitter/detector sets. 22. The array-based LiDAR unit of claim 21 wherein the pulse generation circuit includes at least one emitter shift register coupled to an input of each emitter, the emitter shift register being configured to activate at least one emitter based on an output of the at least one emitter shift register in response to an emitter clocking signal and a bit pattern representing the encoded sequence. 23. The array-based LiDAR unit of claim 22 wherein at least one detector shift register coupled to an output of each detector, the detector shift register being configured to be read by the control unit in response to a detector clocking signal. 24. The array-based LiDAR unit of claim 23, wherein the array comprises a non-scanning, solid-state device having m×n emitter/detector sets, and wherein the control unit will compute the time of flight measurement for a given encoded sequence corresponding to element m,n of the emitter/detector sets upon completion of a cycle of emitting and detecting the pulse train and reading of the shift registers for element m,n, as; t(flight)m,n=λdetector*(km,n−Km,n)−temitter−tdetector where λdetector is the period of the detector clocking signalkm,n is a detector counter value for detector m,n when a detector match circuitry is triggered for element m,nK is a number of bits in the detector shift register for element m,ntemitter is a delay from energizing of the emitter clocking signal to energizing of the emittertdetector is a delay from light energy reaching the detector to energizing of the circuitry at an input of the detector shift register. 25. A light detection and ranging (LiDAR) system for use with a vehicle comprising: at least four array-based light detection and ranging (LiDAR) units, each LiDAR unit including: an array of emitter/detector sets configured to cover a field of view for the LiDAR unit, each emitter/detector set configured to emit and receive light energy on a specific coincident axis unique for that emitter/detector set; anda control system coupled to the array of emitter/detector sets to control initiation of light energy from each emitter and to process time of flight information for light energy received on the coincident axis by the corresponding detector for the emitter/detector set,wherein time of flight information for light energy corresponding to the array of emitter/detector sets provides imaging information corresponding to the field of view for the LiDAR unit and interference with light energy other than that corresponding to an emitter of the specific coincident axis of an emitter/detector set is reduced,wherein at least one LiDAR unit is configured as a long-range device having a narrower field of view configured for forward mapping and object identification in a direction of travel, at least one LiDAR unit is configured as a long-range device having a narrower field of view configured for backward mapping and object identification in the direction of travel, and at least two LiDAR units are configured as short-range devices having a wider field of view configured for sideways mapping of adjacent roadway information and object identification and determination of obstacles and vehicles not within the direction of travel. 26. The LiDAR system of claim 25, wherein the array of each LiDAR unit comprises a non-scanning, solid-state device having a multitude of emitter/detector sets arranged on a generally planer surface. 27. The LiDAR system of claim 26, wherein the field of view of each LiDAR unit is predetermined based on the optic configuration associated with each of the sets of emitter/detectors for that LiDAR unit and a macro field of view of the LiDAR unit is established upon fabrication of a micro-lens array together with the array of emitter/detector sets of the solid-state device. 28. The LiDAR system of claim 25, wherein the control system initiates a multi-bit sequence of emitted pulses unique for each emitter in the LiDAR unit that is used by the control system to reduce interference from other devices that are transmitting or reflecting energy at a target wavelength of that LiDAR unit. 29. The LiDAR system of claim 28, wherein the control system of each LiDAR unit includes a pulse generation controller configured to transmit the multi-bit sequence of emitted pulses and a microprocessor unit (MPU) coupled to an output of at least one detector configured to compute at least a time of flight measurement for light energy received at each of the corresponding on-coincident axis detectors, wherein each emitter/detector set has a corresponding MPU unique to the emitter/detector set, and wherein the control system further comprises a processor coupled to each MPU to analyze information from the array of emitter/detector sets for that LiDAR unit. 30. The LiDAR system of claim 29, wherein, the pulse generation circuit initiates generation of the emitted light energy as a pulse train for each emitter of the emitter/detector sets of that LiDAR unit and includes at least one emitter shift register coupled to an input of each emitter, the emitter shift register being configured to activate at least one emitter based on an output of the at least one emitter shift register in response to an emitter clocking signal corresponding to the time of flight measurement, and at least one detector shift register coupled to an output of each detector, the detector shift register being configured to be read by the MPU in response to a detector clocking signal. 31. The LiDAR system of claim 30, wherein each MPU compute the time of flight measurement for a given encoded sequence corresponding to element m,n of the emitter/detector sets upon completion of a cycle of emitting and detecting the pulse train and reading of the shift registers for element m,n, as; t(flight)m,n=λdetector*(km,n−Km,n)−temitter−tdetector where λdetector is the period of the detector clocking signalkm,n is a detector counter value for detector m,n when a detector match circuitry is triggered for element m,nK is a number of bits in the detector shift register for element m,ntemitter is a delay from energizing of the emitter clocking signal to energizing of the emittertdetector is a delay from light energy reaching the detector to energizing of the circuitry at an input of the detector shift register. 32. A method of automatically operating a light detection and ranging (LiDAR) device, the LiDAR device comprised of at least one emitter/detector sets configured to cover a field of view for the LiDAR device, comprising: for each emitter/detector set, using a control system to: control initiation of light energy for a time of flight measurement from the emitter as an encoded sequence of at least three emitted pulses on a specific coincident axis unique for that emitter/detector set; andprocess time of flight information for light energy received on the coincident axis by one or more corresponding detectors for the emitter/detector set only if the encoded sequence is detected in the light energy received and compute the time of flight measurement based on the encoded sequence,wherein time of flight information for light energy corresponding to the at least one emitter/detector sets provides imaging information corresponding to the field of view for the LiDAR device,wherein the control system controls initiation of the encoded sequence as a multi-bit sequence of emitted pulses generated by the LiDAR device that is distinct for the emitter/detector sets for that LiDAR device and is used by the control system to reduce interference from other LiDAR devices that are transmitting or reflecting energy at a target wavelength of that LiDAR device. 33. A method of automatically operating a light detection and ranging (LiDAR) device, the LiDAR device comprised of at least one emitter/detector sets configured to cover a field of view for the LiDAR device, comprising: for each emitter/detector set, using a control system to: control initiation of light energy for a time of flight measurement from the emitter as an encoded sequence of at least three emitted pulses on a specific coincident axis unique for that emitter/detector set; andprocess time of flight information for light energy received on the coincident axis by one or more corresponding detectors for the emitter/detector set only if the encoded sequence is detected in the light energy received and compute the time of flight measurement based on the encoded sequence,wherein the control system controls initiation of the encoded sequence as a multi-bit sequence of emitted pulses generated by the LiDAR device that is distinct for the emitter/detector sets for that LiDAR device and is used by the control system to reduce interference from other LiDAR devices that are transmitting or reflecting energy at a target wavelength of that LiDAR device, andwherein time of flight information for light energy corresponding to the at least one emitter/detector sets provides imaging information corresponding to the field of view for the LiDAR device, wherein the control system transmits the multi-bit sequence of emitted pulses such that the emitted pulses are distinct for the specific coincident axis for each emitter/detector set and computes at least the time of flight measurement for light energy received at each corresponding on-coincident axis detector. 34. The method of claim 33, wherein, the control system initiates generation of the emitted light energy as a pulse train for each time of flight measurement of each emitter of the emitter/detector sets and includes at least one emitter shift register coupled to an input of each emitter, the emitter shift register being configured to activate at least one emitter based on an output of the at least one emitter shift register in response to an emitter clocking signal and a bit pattern representing the encoded sequence, and at least one detector shift register coupled to an output of each detector, the detector shift register being configured to be read by a microprocessor unit (MPU) unique to that emitter/detector set in response to a detector clocking signal for each time of flight measurement. 35. The method of claim 34, wherein each MPU computes the time of flight measurement for a given encoded sequence corresponding to element m,n of the emitter/detector sets upon completion of a cycle of emitting and detecting the pulse train and reading of the shift registers for element m,n, as; t(flight)m,n=λdetector*(km,n−Km,n)−temitter−tdetector where λdetector is the period of the detector clocking signalkm,n is a detector counter value for detector m,n when a detector match circuitry is triggered for element m,nK is a number of bits in the detector shift register for element m,ntemitter is a delay from energizing of the emitter clocking signal to energizing of the emittertdetector is a delay from light energy reaching the detector to energizing of the circuitry at an input of the detector shift register. 36. A light detection and ranging (LiDAR) unit comprising: at least one emitter/detector sets arranged on a generally planer surface as a non-scanning, solid-state device configured to cover a field of view, each emitter/detector set including at least one emitter configured to emit light energy as a sequence of pulses and at least one detector configured to detect light energy on a specific coincident axis unique for that emitter/detector set; anda control system coupled to the at least one emitter/detector sets including: a pulse generation controller system configured to control each emitter to emit for each of a time of flight measurement a sequence of pulses as a multi-bit encoded sequence that is distinct; anda control unit configured to compute the time of flight measurement for each sequence of pulses from which imaging information corresponding to the field of view is generated only if the multi-bit encoded sequence is detected in the light energy received during a period corresponding to the sequence of pulses by the at least one detector of the corresponding emitter/detector,wherein the multi-bit encoded sequences for the time of flight measurements for successive sequences of pulses are different bit patterns;wherein the control system controls initiation of the encoded sequence as a multi-bit sequence of emitted pulses generated by the LiDAR device that is distinct for the emitter/detector sets for that LiDAR device and is used by the control system to reduce interference from other LiDAR devices that are transmitting or reflecting energy at a target wavelength of that LiDAR device. 37. The LiDAR unit of claim 36, wherein the at least one emitter/detector sets comprise a multitude of emitter/detector sets and each emitter/detector set has a unique a microprocessor unit (MPU) coupled to an output of at least one detector of the emitter/detector set and the MPU is configured to analyze the light energy based on an output of the at least one detector of a given emitter/detector set.

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