JP6775119B2 - 距離測定装置 - Google Patents
距離測定装置 Download PDFInfo
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- JP6775119B2 JP6775119B2 JP2017057081A JP2017057081A JP6775119B2 JP 6775119 B2 JP6775119 B2 JP 6775119B2 JP 2017057081 A JP2017057081 A JP 2017057081A JP 2017057081 A JP2017057081 A JP 2017057081A JP 6775119 B2 JP6775119 B2 JP 6775119B2
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
-
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
-
- 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
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
- G01S2007/4977—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen including means to prevent or remove the obstruction
Landscapes
- 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)
- Measurement Of Optical Distance (AREA)
Description
本開示に係る一実施形態によれば、フォトダイオード(PD)を含む光電変換素子が受光部に採用される。ところが、目標対象物が遠く離れていても測距を行うことができるよう、感度の高いPDを受光部に用いた場合、発光部と受光部との近傍に配置された保護カバーにおける反射散乱光の強度変化を判定することで、保護カバーへの異物付着の有無を検出しようとすると、高感度が災いして異物検出が困難になる。そこで、異物検出を行おうとする際には、発光部の発光強度が弱くなるように調整し、或いはPDの利得率が低くなるようにPDへの印加電圧を調整することで、PDの実質的な感度を低下させることとした。
本開示の実施形態2に係る距離測定装置に搭載される画素では、光電変換部に通常のPDに代わり、アバランシェフォトダイオード(APD)を使用する。なお、他の構成要素は実施形態1と同様であるため、図1〜図3中のPDをAPDに読み替えることとして、詳細な説明を省略する。
11 保護カバー
12 異物
20 発光部
21 LD(レーザダイオード)部
22 第1のマルチプレクサ(MUX1)
30 受光部
31 光学系
32 BPF(バンドパスフィルタ)
33 PD(フォトダイオード)部
34 第2のマルチプレクサ(MUX2)
40 制御部
41 LD駆動制御部
42 LD発光強度調整部
43 PD駆動制御部
44 PD印加電圧調整部
45 距離算出部
46 モード切替部
47 洗浄処理部
50 洗浄部
Claims (3)
- 光を間欠的に放射する発光部と、
前記発光部から放射された光に対する反射光を受光し、光電変換して受光信号を生成するアバランシェフォトダイオードを含む光電変換素子を有する受光部と、
前記発光部と前記受光部との光路上に配置された保護カバーと、
第1のモードと第2のモードとの切り替えを行うモード切替部と、
前記第1のモードにて、前記発光部から光を放射してから、前記受光部によって反射光を受光するまでの時間差に基づいて、目標対象物までの距離を算出する距離算出部と、
前記アバランシェフォトダイオードへの印加電圧を調整する印加電圧調整部とを備え、
前記受光部は、
前記光電変換素子の出力から、フォトンの検出回数をカウントする受光検出回数カウント部と、
前記発光部からの発光を休止した状態で前記受光検出回数カウント部によってカウントした、背景光のフォトンの検出回数と、前記発光部からの信号光ありの状態で前記受光検出回数カウント部によってカウントした、前記背景光および前記信号光のフォトンの検出回数とを比較することにより、物体の有無を判定する比較器とを備え、
前記第1のモードと比較して前記第2のモードでは、前記アバランシェフォトダイオードの増倍率が低くなるように調整し、
前記距離算出部は、前記第2のモードにて、増倍率が低く調整された前記受光部の出力をもとにして前記保護カバーにおける反射散乱光の強度変化を判定することで、前記保護カバーへの異物付着の有無を検出する距離測定装置。 - 請求項1に記載の距離測定装置において、
前記発光部は、パルス状のレーザ光を放射するレーザダイオード部を備え、
前記距離測定装置は、
前記受光部のシャッタタイミングを、前記レーザダイオード部の発光タイミングに対する相対的なタイミングとして制御する制御部を備える距離測定装置。 - 請求項1または2に記載の距離測定装置において、
前記距離算出部にて異物が検出された場合に、前記保護カバーに付着した異物を除去するように洗浄を行う洗浄部を更に備えた距離測定装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017057081A JP6775119B2 (ja) | 2017-03-23 | 2017-03-23 | 距離測定装置 |
CN201880018999.9A CN110431446B (zh) | 2017-03-23 | 2018-03-12 | 距离测定装置 |
US16/494,960 US11487008B2 (en) | 2017-03-23 | 2018-03-12 | Distance measuring device |
PCT/JP2018/009375 WO2018173818A1 (ja) | 2017-03-23 | 2018-03-12 | 距離測定装置 |
EP18771810.1A EP3605147A4 (en) | 2017-03-23 | 2018-03-12 | DISTANCE MEASURING DEVICE |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017057081A JP6775119B2 (ja) | 2017-03-23 | 2017-03-23 | 距離測定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018159628A JP2018159628A (ja) | 2018-10-11 |
JP6775119B2 true JP6775119B2 (ja) | 2020-10-28 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2017057081A Active JP6775119B2 (ja) | 2017-03-23 | 2017-03-23 | 距離測定装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11487008B2 (ja) |
EP (1) | EP3605147A4 (ja) |
JP (1) | JP6775119B2 (ja) |
CN (1) | CN110431446B (ja) |
WO (1) | WO2018173818A1 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7151519B2 (ja) * | 2019-02-01 | 2022-10-12 | 株式会社デンソーウェーブ | 距離画像測定装置 |
WO2020195465A1 (ja) * | 2019-03-27 | 2020-10-01 | パナソニックIpマネジメント株式会社 | 距離測定装置、距離測定システム、距離測定方法、及び、プログラム |
JP7401211B2 (ja) * | 2019-06-25 | 2023-12-19 | ファナック株式会社 | 外光照度測定機能を備えた測距装置及び外光照度測定方法 |
DE102020209849A1 (de) | 2020-08-05 | 2022-02-10 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Ermitteln eines optischen Übersprechens eines Lidar-Sensors und Lidar-Sensor |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH04307387A (ja) * | 1991-04-03 | 1992-10-29 | Mitsubishi Electric Corp | 測距装置 |
JPH0528759U (ja) | 1991-09-27 | 1993-04-16 | 株式会社カンセイ | 障害物検出装置 |
JP3146838B2 (ja) * | 1994-04-13 | 2001-03-19 | 日産自動車株式会社 | 測距センサーヘッド |
JP2820095B2 (ja) * | 1995-12-28 | 1998-11-05 | 日本電気株式会社 | レーザ計測装置 |
DE19908214B4 (de) | 1999-02-25 | 2006-08-31 | Siemens Ag | Strahlungsemittierende Vorrichtung und Verfahren zum Erfassen eines Objektes oder einer Person in Innenraum eines Fahrzeugs |
JP3669320B2 (ja) * | 2001-10-04 | 2005-07-06 | 日産自動車株式会社 | 車間距離計測装置 |
JP2006038686A (ja) | 2004-07-28 | 2006-02-09 | Nissan Motor Co Ltd | 距離計測機能付きランプ装置 |
GB0515605D0 (en) * | 2005-07-29 | 2005-09-07 | Qinetiq Ltd | Laser measurement device and method |
JP2008020203A (ja) | 2006-07-10 | 2008-01-31 | Omron Corp | レーダ装置 |
JP2009257982A (ja) * | 2008-04-18 | 2009-11-05 | Calsonic Kansei Corp | 車両用距離画像データ生成装置 |
JP5710108B2 (ja) * | 2009-07-03 | 2015-04-30 | 日本信号株式会社 | 光測距装置 |
JP5710109B2 (ja) * | 2009-07-10 | 2015-04-30 | 日本信号株式会社 | 光測距装置 |
EP2597483B8 (de) * | 2011-11-25 | 2017-06-07 | Safran Vectronix AG | Entfernungsmesser |
JP6045963B2 (ja) * | 2013-04-05 | 2016-12-14 | 日立マクセル株式会社 | 光測距装置 |
EP3117234B1 (en) * | 2014-03-14 | 2021-04-28 | Heptagon Micro Optics Pte. Ltd. | Optoelectronic modules operable to recognize spurious reflections and to compensate for errors caused by spurious reflections |
GB201413564D0 (en) * | 2014-07-31 | 2014-09-17 | Stmicroelectronics Res & Dev | Time of flight determination |
JP6497071B2 (ja) * | 2014-12-26 | 2019-04-10 | 富士通株式会社 | レーザ測距装置、汚れ検出方法、およびプログラム |
JP6365364B2 (ja) * | 2015-03-17 | 2018-08-01 | 株式会社デンソーウェーブ | 光学的距離測定装置 |
JP6413960B2 (ja) * | 2015-07-08 | 2018-10-31 | 株式会社デンソー | 距離測定装置 |
-
2017
- 2017-03-23 JP JP2017057081A patent/JP6775119B2/ja active Active
-
2018
- 2018-03-12 WO PCT/JP2018/009375 patent/WO2018173818A1/ja unknown
- 2018-03-12 US US16/494,960 patent/US11487008B2/en active Active
- 2018-03-12 CN CN201880018999.9A patent/CN110431446B/zh active Active
- 2018-03-12 EP EP18771810.1A patent/EP3605147A4/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
CN110431446A (zh) | 2019-11-08 |
US11487008B2 (en) | 2022-11-01 |
US20200271783A1 (en) | 2020-08-27 |
EP3605147A4 (en) | 2020-08-05 |
EP3605147A1 (en) | 2020-02-05 |
WO2018173818A1 (ja) | 2018-09-27 |
JP2018159628A (ja) | 2018-10-11 |
CN110431446B (zh) | 2023-10-31 |
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