DE102010006943A1 - Pulse retention sensor for measuring long distances, has pulse groups coded such that pulse groups or part of pulse groups are filtered from noise during signal processing and are laterally assigned for distance measurement - Google Patents
Pulse retention sensor for measuring long distances, has pulse groups coded such that pulse groups or part of pulse groups are filtered from noise during signal processing and are laterally assigned for distance measurement Download PDFInfo
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- DE102010006943A1 DE102010006943A1 DE201010006943 DE102010006943A DE102010006943A1 DE 102010006943 A1 DE102010006943 A1 DE 102010006943A1 DE 201010006943 DE201010006943 DE 201010006943 DE 102010006943 A DE102010006943 A DE 102010006943A DE 102010006943 A1 DE102010006943 A1 DE 102010006943A1
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- pulse
- pulse groups
- groups
- digitization
- long distances
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Stand der TechnikState of the art
Pulslaufzeitsensoren für mittlere Entfernungen und deren Signalverarbeitungsverfahren sind z. B. in den Schriften
- –
DE 41 27 168.8 - –
DE 197 17 399.3 - –
DE 101 62 668 B4
- -
DE 41 27 168.8 - -
DE 197 17 399.3 - -
DE 101 62 668 B4
Diese Systeme haben alle den Nachteil, dass entweder ein Lichtimpuls in seiner Form gegenüber dem Rauschen bewertet wird oder jeweils nach Eintreffen des Signals weitere Lichtimpulse zum Ziel abgegeben werden und diese dann integriert werden.These systems all have the disadvantage that either a light pulse is evaluated in terms of its shape with respect to the noise or in each case after the arrival of the signal further light pulses are delivered to the destination and these are then integrated.
Aufgabe der ErfindungObject of the invention
Aufgabe der Erfindung ist es für relativ große zu überbrückende Entfernungen ein System zu schaffen, das mit niedriger Impulsspitzenleistung auskommt und trotzdem das Signal aus dem Rauschen heraus erkannt wird. Zugleich wird dem Sendesignal eine Kennung mitgegeben, die eine Diskriminierung der systemeigenen Signale vom Rauschen und von anderen Störquellen ermöglicht.The object of the invention is to provide for relatively large distances to be bridged a system that manages with low pulse peak power and still the signal is detected from the noise out. At the same time the transmission signal is given an identifier that allows discrimination of the system's signals from noise and other sources of interference.
Beschreibung der ErfindungDescription of the invention
Die Erfindung wird mittels der
Anstatt eines einzelnen Impulses pro Messung werden entsprechend
Entsprechend
Das Sendesystem gibt eine Impulsgruppe
Um ein digitales Filter einzusetzen, das die zu detektierende Impulsgruppe noch deutlicher aus dem Rauschpegel herausfiltert, können die Impulse mit unterschiedlichen Abständen abgegeben werden. Dieses Verfahren ist mit der Amplitude
In
Damit nicht der erste Impuls schon genau in seiner zeitlichen Lage detektiert werden muss um das beschriebene Verfahren zu ermöglichen, wird entsprechend
dargestellt. Das Signal wird entsprechend z. B. diesen Schriften akquiriert und wie in
shown. The signal is z. B. acquired these fonts and as in
Es werden zwei Lichtimpulse
Zur schematischen Darstellung sind Sendelichtimpulse und Empfangslichtimpulse mit gleicher Amplitude gezeichnet. Um die Impulse herauszufiltern wird das Signal z. B. in Quantisierungsschritten mit der Zeit
Damit werden die Impulse
Als Beispiele sind in
Bei anderen Zeitintervallen oder Impulsgruppen wird der ganze akquirierte Datenstrom des rückgestreuten Signals wie beschrieben unter den Berücksichtigung der jeweils unterschiedlichen Zeitdifferenz behandelt. Dieses Verfahren kann mit allen möglichen Impulsen und Impulsgruppen bei entsprechender Wahl der aufzuaddierenden Signale in den entsprechenden Zeitintervallen durchgeführt werden. Dabei ist es auch möglich unterschiedliche Zeitintervalle für die einzelnen Impulsgruppen zu verwenden.At other time intervals or pulse groups, the entire acquired data stream of the backscattered signal is treated as described taking into account the different time difference. This method can be performed with all possible pulses and pulse groups with appropriate choice of the signals to be added in the appropriate time intervals. It is also possible to use different time intervals for the individual pulse groups.
Das gesamte Signal kann dadurch mittels eines Mikroprozessors so behandelt werden, dass unterschiedliche Zeitintervalle zwischen dem Sendezeitimpuls und der akquirierten Empfangssignale gewählt werden und dann aus der Aufsummierung das Signal mit dem höchsten Signal/Rauschabstand herausgefiltert wird und daraus die Zeitdifferenz der Impulsgruppe zum Sendesignal gut ermittelbar wird. Wird ein Code, bei dem die Impulsabstände und die Kombination unterschiedlicher Impulse unverwechselbare Werte haben für die Impulsgruppen verwendet, kann durch die Erkennung von Teilen des Codes immer noch eine genaue Entfernungsbestimmung erfolgen, da die einzelnen Teile des Codes erkennbar und zuordenbar sind. Damit kann noch eine genaue Entfernungsbestimmung durchgeführt werden selbst wenn einige Impulse im Rauschen nicht mehr erkennbar sind. Durch diese Methode kann eine Verbesserung des Signal-Rauschabstandes fast um den Faktor der Anzahl der noch detektierbaren Impulse erreicht werden.The entire signal can thereby be treated by means of a microprocessor so that different time intervals between the transmission time pulse and the acquired received signals are selected and then the signal with the highest signal / noise ratio is filtered out of the summation and from this the time difference of the pulse group to the transmission signal is well determined , If a code in which the pulse intervals and the combination of different pulses have unique values for the pulse groups, the recognition of parts of the code can still be used to determine the exact distance, since the individual parts of the code are recognizable and can be assigned. This can still be an accurate distance determination performed even if some pulses in the noise are no longer recognizable. By this method, an improvement of the signal-to-noise ratio can be achieved almost by the factor of the number of still detectable pulses.
Das Blockschaltbild eines erfindungsgemäßen Systems ist in
Die Impulsabstände können auch durch den Mikroprozessor
- – Eigengeschwindigkeit
- – Bewegungsvektor
- – Eigenmanövrierfähigkeit
- – Eigenposition
- – Eigene Ausweichstrategie
- – Vorschlag einer Ausweichstrategie für einen Kollisionspartner
- – Rückmeldung der Tendenz der Wirksamkeit des Ausweichmanövers
- - Airspeed
- - motion vector
- - Self-maneuverability
- - Own position
- - Own evasion strategy
- - Proposing an evasion strategy for a collision partner
- - Feedback of the tendency of the effectiveness of the evasive maneuver
Die Sendeimpulse eines Systems nach
In
Die Auswertung der Signale über die entsprechenden Impulsabstände der einzelnen Impulse oder Impulsgruppen erfolgt über den Baustein
Die Mehrfachlaser
Um Interferenzen mit anderen gleichartigen Systemen zu vermeiden, kann die Kodierung der Impulse pro Einzellaser, pro Zeile oder pro Umlauf des Systems durch einen Zufallsgenerator gesteuert werden. Trotz dieser Maßnahme kann die Kodierung jeweils so ausgeführt werden, dass der Code selbst bei Ausfall einiger Impulse durch z. B. Rauschen noch mindestens in Teilen erkennbar und auswertbar ist.To avoid interference with other similar systems, the coding of the pulses per single laser, per line or per revolution of the system can be controlled by a random generator. Despite this measure, the coding can be carried out in each case so that the code even in case of failure of some pulses by z. B. noise is still at least partially recognizable and evaluable.
Eine Anordnung nach
Damit ist das System geeignet den gesamten Raum um den Träger herum zu überwachen.This allows the system to monitor the entire space around the wearer.
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 4127168 [0001] DE 4127168 [0001]
- DE 19717399 [0001, 0010] DE 19717399 [0001, 0010]
- DE 10162668 B4 [0001, 0010] DE 10162668 B4 [0001, 0010]
Claims (7)
Priority Applications (1)
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DE201010006943 DE102010006943B4 (en) | 2010-02-04 | 2010-02-04 | Pulse transit time sensor for long distances |
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DE201010006943 DE102010006943B4 (en) | 2010-02-04 | 2010-02-04 | Pulse transit time sensor for long distances |
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DE102010006943A1 true DE102010006943A1 (en) | 2011-08-04 |
DE102010006943B4 DE102010006943B4 (en) | 2012-05-10 |
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015112297A1 (en) * | 2015-07-28 | 2017-02-02 | Valeo Schalter Und Sensoren Gmbh | Optical sensor device for a motor vehicle for two-dimensional scanning of a surrounding area of the motor vehicle, motor vehicle and method |
DE102015112296A1 (en) * | 2015-07-28 | 2017-02-02 | Valeo Schalter Und Sensoren Gmbh | Optical sensor device for a motor vehicle, motor vehicle and method |
EP3168641A1 (en) * | 2015-11-11 | 2017-05-17 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
EP3226024A1 (en) * | 2016-03-31 | 2017-10-04 | ams AG | Optical 3-dimensional sensing system and method of operation |
EP3531166A1 (en) * | 2018-02-21 | 2019-08-28 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014005521B4 (en) | 2014-04-15 | 2019-09-19 | Ingenieurbüro Spies GbR (vertretungsberechtigte Gesellschafter: Hans Spies, Martin Spies, 86558 Hohenwart) | Pulse transit time sensor for long distances and high sampling rate |
Citations (6)
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DE4127168A1 (en) | 1991-08-16 | 1993-02-18 | Spies Martin J Dipl Ing Fh | Multi-mode signal processor for distance measurement, e.g. between vehicles - has transmitter, receiver, and estimation processor comparing processed data with distance prognosis windows |
DE69211660T2 (en) * | 1991-11-25 | 1996-10-31 | Hughes Aircraft Co | Method and arrangement for pulse compression radar system for post-integration with adapted acoustic surface wave filters (SAW) |
DE19717399A1 (en) | 1997-04-24 | 1999-06-17 | Spies Martin Dipl Ing Fh | Arrangement for determining the distances and types of objects, e.g. vehicles |
WO2003107035A2 (en) * | 2002-06-18 | 2003-12-24 | Automotive Distance Control Systems Gmbh | Method for the suppression of disturbances in systems for detecting objects |
DE10162668B4 (en) | 2001-12-19 | 2004-03-04 | Spies, Martin, Dipl.-Ing. (FH) | System for measuring the distance to objects by means of electromagnetic pulses |
DE69728116T2 (en) * | 1996-12-04 | 2005-03-24 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and device for transmitting and receiving information in a pulse radar |
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2010
- 2010-02-04 DE DE201010006943 patent/DE102010006943B4/en active Active
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DE4127168A1 (en) | 1991-08-16 | 1993-02-18 | Spies Martin J Dipl Ing Fh | Multi-mode signal processor for distance measurement, e.g. between vehicles - has transmitter, receiver, and estimation processor comparing processed data with distance prognosis windows |
DE69211660T2 (en) * | 1991-11-25 | 1996-10-31 | Hughes Aircraft Co | Method and arrangement for pulse compression radar system for post-integration with adapted acoustic surface wave filters (SAW) |
DE69728116T2 (en) * | 1996-12-04 | 2005-03-24 | Telefonaktiebolaget Lm Ericsson (Publ) | Method and device for transmitting and receiving information in a pulse radar |
DE19717399A1 (en) | 1997-04-24 | 1999-06-17 | Spies Martin Dipl Ing Fh | Arrangement for determining the distances and types of objects, e.g. vehicles |
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015112297A1 (en) * | 2015-07-28 | 2017-02-02 | Valeo Schalter Und Sensoren Gmbh | Optical sensor device for a motor vehicle for two-dimensional scanning of a surrounding area of the motor vehicle, motor vehicle and method |
DE102015112296A1 (en) * | 2015-07-28 | 2017-02-02 | Valeo Schalter Und Sensoren Gmbh | Optical sensor device for a motor vehicle, motor vehicle and method |
EP3130942A1 (en) * | 2015-07-28 | 2017-02-15 | Valeo Schalter und Sensoren GmbH | Optical sensor device for a motor vehicle, motor vehicle and method |
CN108463739A (en) * | 2015-11-11 | 2018-08-28 | Ibeo汽车***有限公司 | Method and apparatus for optical distance measurement |
WO2017081294A1 (en) * | 2015-11-11 | 2017-05-18 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
EP3168641A1 (en) * | 2015-11-11 | 2017-05-17 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
EP3168641B1 (en) | 2015-11-11 | 2020-06-03 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
US11262438B2 (en) | 2015-11-11 | 2022-03-01 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
EP4020014A1 (en) * | 2015-11-11 | 2022-06-29 | Ibeo Automotive Systems GmbH | Method and device for optically measuring of distance |
CN108463739B (en) * | 2015-11-11 | 2022-12-09 | Ibeo汽车***有限公司 | Method and device for optical distance measurement |
EP3226024A1 (en) * | 2016-03-31 | 2017-10-04 | ams AG | Optical 3-dimensional sensing system and method of operation |
EP3531166A1 (en) * | 2018-02-21 | 2019-08-28 | Ibeo Automotive Systems GmbH | Method and device for optically measuring distances |
US11474210B2 (en) | 2018-02-21 | 2022-10-18 | Ibeo Automotive Systems GmbH | Method and device for optical distance measurement comprising a single evaluation unit with time multiplexing to evaluate reflected measurement pulses |
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