LADAR ENABLED IMPACT MITIGATION SYSTEM

• US 20150331113A1
• Filed: 07/30/2015
• Published: 11/19/2015
• Est. Priority Date: 03/08/2013
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Advanced Scientific Concepts, Inc.
• Inventors: Stettner, Roger, Gilliland, Patrick, Goldstein, Barton, Duerner, Andrew
• Granted Patent: US 10,295,670 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60G 17/019 characterised by the type of sensor or the arrangement thereof B60G17/01941 takes precedence
• CPC Class Codes: B60R 2021/01013 Means for detecting collision, impending collision or roll-over
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60R 21/36 using airbags
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/486 Receivers
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision mitigation system is proposed which makes use of forward mounted long range ladar sensors and short range ladar sensors mounted in auxiliary lamps to identify obstacles and to predict unavoidable collisions therewith, and a duplex radio link in communication with secondary vehicles, and a number of external airbags deployable under the control of an airbag control unit, to reduce the forces of impact on the host vehicle, secondary vehicles, and bipeds and quadrupeds wandering into the roadway. A suspension modification system makes use of headlight mounted long range ladar sensors and short range ladar sensors mounted in auxiliary lamps to characterize the road surface, identify road hazards, and make adaptations to a number of active suspension components, each with the ability to absorb shock, elevate or lower the vehicle, and adjust the spring rate of the individual wheel suspensions.

Claims

1. An impact mitigation system comprising:

a vehicle with a ladar sensor mounted thereto,

an impact mitigation device, said impact mitigation device mounted to said vehicle,

an impact control unit operably connected to activate said impact mitigation device,

and said ladar sensor comprising;

a receiving lens assembly,

a laser transmitter with a modulated laser light output and a diffusing optic for illuminating a scene in a field of view of said ladar sensor,

a two dimensional array of light sensitive detectors positioned at a focal plane of said receiving lens assembly, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output,

a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of the light sensitive detector outputs, each unit cell electrical circuit having an electrical response signal demodulator and a range measuring circuit connected to an output of said electrical response signal demodulator, the range measuring circuit further connected to a reference signal providing a zero range reference for the range measuring circuit,

a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors,

a digital processor connected to receive an output from the range measuring circuit and provide an input for the impact control unit,

and a temperature stabilized frequency reference connected through the digital processor to provide clocking signals.

2. The impact mitigation system of claim 1 further comprising a duplex radio link connected to the digital processor for interconnecting with a second digital processor in a second vehicle.

3. The impact mitigation system of claim 1 wherein said impact mitigation device is an airbag.

4. The impact mitigation system of claim 1 wherein said impact mitigation device incorporates a hydraulic actuator.

5. The impact mitigation system of claim 1 wherein said laser transmitter comprises a vertical cavity surface emitting laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus.

6. The impact mitigation system of claim 1 wherein said modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse.

7. The impact mitigation system of claim 1 wherein said laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet.

8. The impact mitigation system of claim 1 wherein said two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit.

9. The impact mitigation system of claim 1 wherein said ladar sensor is integrated into a headlight assembly.

10. The impact mitigation system of claim 1 wherein said ladar sensor is integrated into an auxiliary lamp assembly selected from the set of a turn signal, taillight, parking light, mirror assembly, and brake light.

11. The impact mitigation system of claim 1 wherein said vehicle further has at least one two dimensional imaging camera sighted to have a field of view overlapping the field of view of said ladar sensor, and said vehicle further having a digital processor adapted to merge the data from said ladar sensor with data from the two dimensional imaging camera.

12. An active vehicle suspension system comprising:

a vehicle with a ladar sensor mounted thereto,

a suspension actuator, the suspension actuator attached to a suspension member of at least one wheel of said vehicle, and the suspension actuator also attached to a chassis of said vehicle, and the suspension actuator adapted to actively raise or lower said wheel in response to a control input,

a suspension control processor providing said control input,

and said ladar sensor comprising;

a receiving lens assembly,

a laser transmitter and said laser transmitter with a modulated laser light output and a diffusing optic for illuminating a scene in the field of view of said ladar sensor,

a two dimensional array of light sensitive detectors positioned at a focal plane of said receiving lens assembly, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output,

a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of said light sensitive detector outputs, each unit cell electrical circuit having an electrical response signal demodulator and a range measuring circuit connected to an output of the electrical response signal demodulator, the range measuring circuit further connected to a reference signal providing a zero range reference for the range measuring circuit,

and a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors,

a digital processor connected to receive an output from the range measuring circuit and provide an input for the suspension control processor,

and a temperature stabilized frequency reference connected to the digital processor.

13. The system of claim 12 wherein said laser transmitter comprises a semiconductor laser formed in a semiconducting gain medium with at least one element selected from the set of indium, gallium, arsenic, phosphorus.

14. The system of claim 12 wherein said modulated laser light output is modulated with a waveform selected from the set of a single Gaussian pulse profile, multiple Gaussian profile pulses, a single flat-topped pulse profile, multiple flat-topped pulses, a pulsed sinewave, and a chirped sinewave pulse.

15. The system of claim 12 wherein said laser transmitter comprises an optically pumped solid state laser formed in a gain medium selected from the set of yttrium aluminum garnet, erbium doped glass, neodymium doped yttrium aluminum garnet, and erbium doped yttrium aluminum garnet.

16. The system of claim 12 wherein said two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit.

17. The system of claim 12 wherein said control input is selected from the set of a gas pressure, a hydraulic pressure, an electrical current, and an electrical voltage.

18. The system of claim 12 wherein said two dimensional array of light sensitive detectors is formed in a semiconducting film having an element selected from the set of silicon, indium, gallium, arsenic, phosphorus, aluminum, boron, antimony, magnesium, germanium, and nitrogen.

19. The system of claim 12 wherein said ladar sensor is integrated into a headlight assembly.

20. The system of claim 12 wherein said ladar sensor is integrated into an auxiliary lamp assembly selected from the set of a turn signal, taillight, parking light, and brake light.

21. The system of claim 12 wherein said vehicle further has at least one two dimensional imaging camera sighted to have a field of view overlapping the field of view of said ladar sensor, and said vehicle further having a digital processor adapted to merge the data from said ladar sensor with data from the two dimensional imaging camera.