LiDAR System Comprising A Single-Photon Detector

• US 20150192676A1
• Filed: 01/03/2014
• Published: 07/09/2015
• Est. Priority Date: 01/03/2014
• Status: Active Grant

• Current Assignee: LG Innotek Company Limited (LG Corporation)
• Original Assignee: Princeton Lightwave, Inc. (Ford Motor Company)
• Inventors: Mordarski, William Paul, Rangwala, Sabbir Sajjad, Kotelnikov, Evgenii Yuryevich, Kudryashov, Igor, Entwistle, Mark D.
• Granted Patent: US 9,625,580 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/18 wherein range gates are used
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection

Abstract

A method for developing a map of objects in a region surrounding a location is disclosed. The method includes interrogating the region along a detection axis with a series of optical pulses and detecting reflections of the optical pulses that originate at objects located along the detection axis. A multi-dimensional map of the region is developed by scanning the detection axis about the location in at least one dimension. The reflections are detected via a single-photon detector that is armed using a sub-gating scheme such that the single-photon detector selectively detects photons of reflections that originate only within each of a plurality of zones that collectively define the detection field. In some embodiments, the optical pulses have a wavelength within the range of 1350 nm to 1390 nm, which is a spectral range having a relatively high eye-safety threshold and a relatively low solar background.

Claims

1. A method for developing a map of objects relative to a first location, the method comprising:

transmitting a first optical pulse at a first time, the first optical pulse having a wavelength within the range of approximately 1350 nm to approximately 1475 nm;

detecting a first reflection of the first optical pulse from a first object within the detection field, wherein the first reflection is detected at a second time; and

computing a distance between the first location and the first object based on the difference between the first time and the second time.

2. The method of claim 1 further comprising enabling the receiver to detect the first reflection only when it originates from within a first zone of a plurality thereof, wherein the plurality of zones collectively define a detection field.

3. The method of claim 2, wherein receiver is enabled to detect the first reflection by operations comprising:

arming the single-photon detector at a third time, the third time being based on the time-of-flight for a photon travelling from a transmitter to a receiver via a first point in the first zone; and

disarming the single-photon detector at a fourth time, the fourth time being based on the time-of-flight for a photon travelling from the transmitter to the receiver via a second point in the first zone.

4. The method of claim 3, wherein the first optical pulse is transmitted along a first direction and the first point is the nearest point to the first location along the first direction and the second point is the furthest point to first location along the first direction.

5. The method of claim 2 further comprising enabling the receiver to detect the reflection only when it originates from within a second zone of the plurality thereof.

6. The method of claim 1 further comprising co-locating the transmitter and the receiver at the first location.

7. The method of claim 1 further comprising transmitting a second optical pulse at a third time, wherein the time between the first time and the third time is based the size of the detection field.

22. The method of claim 1 wherein the first optical pulse is transmitted such that it has a wavelength within the range of approximately 1350 nm to approximately 1420 nm.

23. The method of claim 1 wherein the first optical pulse is transmitted such that it has a wavelength within the range of approximately 1350 nm to approximately 1390 nm.

24. The method of claim 1 wherein the first optical pulse is transmitted such that it has a wavelength within the range of approximately 1435 nm to approximately 1475 nm.

8. A method for developing a map of objects within a detection field, the method including interrogating each detection axis of a plurality thereof by operations comprising:

(1) establishing a plurality of detection frames, frame-1 through frame-N;

(2) for each detection frame-i, where i=1 through N;

(i) transmitting an optical pulse-i at a first time-i;

(ii) separating the detection field into M zones, zone-1 through zone-M; and

(iii) for each zone-j, where j=1 through M,

(a) enabling a receiver to detect a reflection-i-j of the optical pulse only when the reflection originates within zone-j; and

(b) establishing a detection time-i-j based on receipt of reflection-i-j at the receiver; and

(3) computing a separation distance between a first location and an object at which a reflection originates, the separation distance being based a difference between at least one first time-i and at least one detection time-i-j.

9. The method of claim 8 further comprising:

for each zone-j along each of the plurality of detection axes;

determining the number of reflections-i-j detected during detection frame-1 through detection frame-N; and

establishing a position in the map for an object when the number of reflections-i-j detected during detection frame-1 through detection frame-N is equal to or greater than a threshold value, wherein the position for the object is based on the difference between at least one first time-i and at least one detection time-i-j.

10. The method of claim 9 further comprising setting the threshold value to provide a false-alarm rate that is equal to or less than 1%.

11. The method of claim 8 wherein optical pulse-i is transmitted such that it has a wavelength within the range of approximately 1350 nm to approximately 1475 nm.

12. The method of claim 8 further comprising providing the transmitter and receiver such that they are substantially co-located.

13. The method of claim 8 further comprising establishing the duration of at least one of the detection frames based on the size of the detection field.

25. The method of claim 11 wherein optical pulse-i is transmitted such that it has a wavelength within the range of approximately 1350 nm to approximately 1420 nm.

26. The method of claim 11 wherein optical pulse-i is transmitted such that it has a wavelength within the range of approximately 1350 nm to approximately 1390 nm.

27. The method of claim 11 wherein optical pulse-i is transmitted such that it has a wavelength within the range of approximately 1435 nm to approximately 1475 nm.

28. The method of claim 11 wherein the optical pulse has a wavelength within the range of approximately 1350 nm to approximately 1420 nm.

29. The method of claim 11 wherein the optical pulse has a wavelength within the range of approximately 1350 nm to approximately 1390 nm.

30. The method of claim 11 wherein the optical pulse has a wavelength within the range of approximately 1435 nm to approximately 1475 nm.

14. A system comprising:

a transmitter operative for providing an optical pulse at a first time, the optical pulse having a wavelength within the range of approximately 1350 nm to approximately 1475 nm;

a receiver including a single-photon detector operative for detecting a reflection of the optical pulse from an object within a detection field at a second time; and

a processor operative for estimating a separation distance between a first location and the object based the difference between the first time and the second time.

15. The system of claim 14, wherein the processor is further operative for:

establishing a detection frame;

partitioning the detection frame into a plurality of sub-gate periods; and

for each of the plurality of sub-gate periods, arming the single-photon detector at the beginning of the sub-gate period and disarming the single-photon detector at the end of the sub-gate period.

16. The system of claim 15, wherein each of the plurality of sub-gate periods has a duration based on a dimension of a zone of a plurality thereof, wherein the plurality of zones collectively define the detection field, and wherein the dimension is a depth along a detection axis.

17. The system of claim 14, wherein the processor is further operative for:

(1) establishing a plurality of detection frames, detection frame-1 through detection frame-N; and

(2) for each detection frame-i, where i=1 through N;

(i) inducing the transmitter to transmit an optical pulse at a first time-i;

(ii) partitioning each detection frame into a plurality of sub-gate periods, sub-gate period-i-1 through sub-gate period i-M; and

(iii) for each sub-gate period-i-j, where j=1 through M;

(a) enabling the receiver to detect a reflection-i-j that originates only within zone-j of a plurality of zones, wherein the plurality of zones defines the detection field; and

(b) establishing the second time-i-j based on receipt of reflection-i-j at the receiver;

wherein the separation distance between the first location and the object is based on at least one first time-i and at least one second time-i-j.

18. The system of claim 17, wherein the processor enables the receiver to detect the reflection-i-j selectively from zone-j by operations comprising:

arming the single-photon detector at a third time that is based on a first position within zone-j; and

disarming the single-photon detector at a fourth time that is based on a second position within zone-j.

19. The system of claim 18, wherein the first position is the point in zone-j along a detection axis that is nearest to the first location and the second position is the point in zone-j along the detection axis that is furthest from the first location.

20. The system of claim 17 wherein each of the plurality of sub-gate periods has a duration based on a dimension of a zone of the plurality thereof, and wherein the dimension is a depth along a detection axis.

21. The system of claim 14 further comprising a scanner operative for enabling the transmitter to transmit the optical pulse along a detection axis, wherein the scanner is further operative for changing the orientation of the detection axis in at least one dimension.