Flash ladar collision avoidance system

• US 10,372,138 B2
• Filed: 08/04/2017
• Issued: 08/06/2019
• Est. Priority Date: 11/01/2010
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Advanced Lidar Solutions US LLC (Continental AG)
• Inventors: Gilliland, Patrick, Stettner, Roger, Heuhebaert, Laurent, Goldstein, Bart M
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US15/669,090
• Publication Number:
  US 20170357260A1
• Time in Patent Office: 732 Days
• CPC Class Codes: B60S 1/566 including wiping devices B60S1/563, B60S1/583 take precedence
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2007/4977 including means to prevent or remove the obstruction
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

A vehicular collision avoidance system comprising a system controller, pulsed laser transmitter, a number of independent ladar sensor units, a cabling infrastructure, internal memory, a scene processor, and a data communications port is presented herein. The described invention is capable of developing a 3-D scene, and object data for targets within the scene, from multiple ladar sensor units coupled to centralized LADAR-based Collision Avoidance System (CAS). Key LADAR elements are embedded within standard headlamp and taillight assemblies. Articulating LADAR sensors cover terrain coming into view around a curve, at the crest of a hill, or at the bottom of a dip. A central laser transmitter may be split into multiple optical outputs and guided through fibers to illuminate portions of the 360° field of view surrounding the vehicle. These fibers may also serve as amplifiers to increase the optical intensity provided by a single master laser.

Claims

1. A ladar sensor mounted to a vehicle, said ladar sensor having a field of view and illuminating pattern, the ladar sensor housed within an envelope and the envelope mounted to the vehicle, the envelope having a transparent surface adapted to transmit laser light, the ladar sensor further comprising:

a pulsed laser transmitter having a wavelength of transmission and a pulsed light output and diffusing optic and adapted to emit a laser light pulse to illuminate a scene in the field of view of the ladar sensor, and

a time zero reference circuit having a time zero output, said time zero output adapted to signal the instant of emission of the laser light pulse,

a receiving lens assembly having an optical transmission path, and adapted to collect and focus light reflected from the scene,

an optical bandpass filter positioned in the optical transmission path of the receiving lens assembly, and adapted to transmit light at the wavelength of transmission, and to block other wavelengths of light,

a regular geometric array of light sensitive detectors positioned at a focal plane of the receiving lens assembly, and each individual light sensitive detector having an output terminal producing an electrical pulse when illuminated by a reflected portion of the laser light pulse,

a readout integrated circuit comprising a regular geometric array of unit cell electrical circuits, each unit cell electrical circuit having an input connected to the output terminal of an individual light sensitive detector,

and each unit cell electrical circuit adapted to amplify and detect said electrical pulse, and said unit cell electrical circuit having a detected pulse output and a timing circuit, the timing circuit connected to the detected pulse output, and the timing circuit also connected to the time zero output, and

and each timing circuit having an elapsed time output producing an elapsed time measurement value indicating the time delay between the emission of the laser light pulse and an electrical pulse indicated by the detected pulse output,

said readout integrated circuit connected to the elapsed time outputs, and the readout integrated circuit adapted to collect and transmit said elapsed time outputs; and

,

a system controller mounted to the vehicle, and

the ladar sensor connected to the system controller via bidirectional connections.

2. The ladar sensor of claim 1, wherein the pulsed laser transmitter further comprises an eye safe filter for limiting the wavelength of light transmitted through the diffusing optic.

3. The ladar sensor of claim 1 wherein the pulsed laser transmitter comprises an optically pumped solid state laser gain media.

4. The ladar sensor of claim 1 further comprising a digital processor adapted to identify objects.

5. The ladar sensor of claim 1 wherein the envelope is mounted to a bracket, and the bracket is mounted to a mounting point of the vehicle.

6. The ladar sensor of claim 1 wherein the envelope is mounted to a motorized pivot, and the motorized pivot is mounted to a mounting point of the vehicle.

7. The ladar sensor of claim 1 wherein the envelope is mounted within a recess in a body panel of the vehicle.

8. The ladar sensor of claim 1 wherein the two dimensional focal plane array of infrared light sensitive detectors is comprised of a detector type selected from the set of avalanche photodiodes, and PIN photodiodes.

9. The ladar sensor of claim 1 wherein the pulsed light output is steerable by an applied electrical signal.

10. The ladar sensor of claim 1 wherein the pulsed laser light output is from a semiconductor laser.

11. The ladar sensor of claim 1 wherein the pulsed laser light output is from a vertical cavity surface emitting laser.

12. The ladar sensor of claim 1 wherein the ladar sensor has a digital processor adapted to identify objects in the field of view.

13. The ladar sensor of claim 1 wherein the light collecting and focusing lens comprises a reflecting mirror.

14. A robotic driving system adapted to steer a vehicle autonomously comprising:

at least one ladar sensor mounted to the vehicle and,

a system controller,

and the ladar sensor connected to said system controller via bidirectional connections, the bidirectional connections comprising;

a cable assembly routed through the vehicle, the cable assembly further comprising;

a first end connected to the system controller, and

a connector at a second end adapted to connect to the ladar sensor;

and the ladar sensor having a field of view, and housed within an envelope and mounted to the vehicle, said envelope having a device connector adapted to mate with the cable assembly, and the envelope having a transparent surface adapted to transmit infrared light;

said ladar sensor further comprising,

a pulsed laser transmitter having a transmission wavelength, and a pulsed light output and diffusing optic, and is adapted to emit a laser light pulse to illuminate a scene in the field of view, and

a time zero reference circuit having a time zero output, said time zero output adapted to signal the instant of emission of the laser light pulse,

a receiving lens assembly having an optical transmission path, and adapted to collect and focus light reflected from the scene,

an optical bandpass filter positioned in the optical transmission path of the receiving lens assembly, and adapted to transmit light at the wavelength of transmission, and to block other wavelengths of light,

a regular geometric array of light sensitive detectors positioned at a focal point of the light collecting and focusing lens, and each light sensitive detector having an output terminal producing an electrical pulse when illuminated by a reflected portion of the laser light pulse,

a readout integrated circuit comprised of a regular geometric array of unit cell electrical circuits, and each unit cell electrical circuit having an input connected to the output terminal of a light sensitive detector,

and each unit cell electrical circuit adapted to amplify and detect said electrical pulse, and the unit cell electrical circuit having a detected pulse output, and

a plurality of timing circuits, and each timing circuit connected to a detected pulse output, and also connected to the time zero output, and

said timing circuit having an elapsed time output, and producing an elapsed time value indicating the time delay between the emission of the laser light pulse and the detected pulse output from the associated unit cell electrical circuit,

and said readout integrated circuit connected to a plurality of the elapsed time outputs, and the readout integrated circuit adapted to collect and transmit via the cable assembly the elapsed time values,

and said system controller further having a digital processor adapted to make an optimum path computation, and the system controller also having a control output connected to the vehicle steering, and thereby navigating the vehicle.

15. The robotic driving system of claim 14 wherein the pulsed laser transmitter is formed in a solid state crystal containing an element from the group comprising:

erbium, neodymium, yttrium, and aluminum.

16. The robotic driving system of claim 14 wherein the vehicle has a digital processor adapted to identify objects.

17. A ladar sensor comprising:

a laser transmitter configured to produce a pulsed light output at a wavelength of transmission;

a diffusing optic coupled to the laser transmitter to receive and diffuse the pulsed light output and illuminate a scene in a field of view;

a time zero reference circuit generating a time zero output, the time zero output adapted to signal an instant of emission of the pulsed light output;

a receiving lens assembly configured to collect and focus light reflected from the scene;

an optical bandpass filter disposed in the receiving lens assembly and configured to transmit light reflected from the scene at the wavelength of transmission while blocking other wavelengths of light;

a plurality of light sensitive detectors positioned to receive the light reflected from the scene, wherein each light sensitive detector produces an electrical signal when illuminated by the light reflected from the scene;

a readout integrated circuit comprising a plurality of unit cell electrical circuits, each unit cell electrical circuit coupled to one of the light sensitive detectors and configured to amplify and detect the electrical signal from the light sensitive detector and provide a detected pulse output;

each unit cell electrical circuit also comprising a timing circuit in communication with the time zero output and configured to produce an elapsed time measurement value indicating the time delay between the emission of the pulsed light output and the electrical signal indicated by the detected pulse output,

the readout integrated circuit configured to collect and transmit the elapsed time measurement values from the timing circuits.

18. The ladar sensor of claim 17, further comprising an eye safe filter for limiting the wavelength of light transmitted through the diffusing optic.

19. The ladar sensor of claim 17, further comprising a digital processor in communication with the readout integrated circuit adapted to identify objects based at least in part on the elapsed time measurement values.