AUTOMOTIVE AUXILIARY LADAR SENSOR

• US 20190322272A1
• Filed: 07/02/2019
• Published: 10/24/2019
• Est. Priority Date: 05/24/2013
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Advanced Lidar Solutions US LLC (Continental AG)
• Inventors: Stettner, Roger, Gilliland, Patrick B, Duerner, Andrew
• Granted Patent: US 11,027,726 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 1/0023 the element being a sensor, e.g. distance sensor, camera
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• 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 17/894 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 7/481 Constructional features, e.g. arrangements of optical elements
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4818 using optical fibres
• CPC Class Codes: G01S 7/489 Gain of receiver varied automatically during pulse-recurrence period

Abstract

A vehicle and ladar sensor assembly 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 identify potential collisions with the vehicle. A low cost assembly is developed which can be easily mounted within a body panel cutout of a vehicle, and which connects to the vehicle electrical and computer systems through the vehicle wiring harness. The vehicle has a digital processor which interprets 3D data received from the ladar sensor assembly, and which is in control of the vehicle subsystems for steering, braking, acceleration, and suspension. The digital processor onboard the vehicle makes use of the 3D data and the vehicle control subsystems to avoid collisions and steer a best path.

Claims

1. A vehicular imaging system for a vehicle having a body panel defining an opening, a digital processor connected to a wiring harness, and a first connector disposed at a terminus of said wiring harness, said system comprising:

at least one ladar sensor comprising

a laser transmitter configured to produce a modulated laser light output,

a diffusing optic for receiving the modulated laser light output and illuminate a scene in a field of view through the opening of the body panel,

a time zero indication circuit having a zero range reference output,

a receiving lens adapted to receive a reflected optical signal through the opening of the body panel,

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

a readout integrated circuit with a plurality of unit cell electrical circuits, each of the 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, said range measuring circuit further connected to the zero range reference output,

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

a connector adapted to mate with the first connector of the wiring harness such that the digital processor of the vehicle may receive three-dimensional data from said ladar sensor through the wiring harness, said connector of the ladar sensor comprising the physical connection point of a data communications port of the ladar sensor, and said data communications port adapted to transmit therethrough at least one signal comprising a three dimensional image signal; and

a temperature stabilized frequency reference connected to the digital processor.

2. The vehicular imaging system of claim 1 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, and phosphorus.

3. The vehicular imaging system of claim 1 wherein said data communications port is selected from the set of Ethernet, Gigabit Ethernet, USB, IEEE1394, and Infiniband.

4. The vehicular imaging 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.

5. The vehicular imaging system of claim 1 wherein said two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit.

6. The vehicular imaging system of claim 1 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.

7. The vehicular imaging system of claim 1 wherein said ladar sensor is integral with an auxiliary lamp assembly selected from the set of a turn signal, taillight, parking light, and brake light.

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

9. The vehicular imaging system of claim 1 wherein the vehicle further has a global positioning sensor connected to a global positioning network and to said digital processor.

10. The vehicular imaging system of claim 1 wherein the vehicle further has a duplex radio link adapted to communicate with other vehicles.

11. A vehicle driving system comprising:

a vehicle having a cutout in a body panel, said cutout having a mounting feature adapted to receive a mating retention feature of a ladar sensor, said vehicle further having a first digital processor mounted therein, a wiring harness and a first connector attached at a first end of said wiring harness and the first connector connected to said first digital processor, and said wiring harness having a second connector at a second end,

and said ladar sensor comprising;

a mating connector adapted to mate with the second connector of said wiring harness,

receiving optics,

a laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in a field of view of said ladar sensor,

a time zero reference circuit having a zero range reference output,

a two-dimensional array of light sensitive detectors positioned at a focal plane of said receiving optics, each of the light sensitive detectors with an output producing an electrical response signal from a reflected portion of the 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, said range measuring circuit further connected to the zero range reference output,

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

a second digital processor connected to receive outputs from the range measuring circuits, and adapted to transmit said outputs via said wiring harness,

and a temperature stabilized frequency reference connected to the second digital processor; and

,

an envelope enclosing the ladar sensor, said envelope having at least one transparent section.

12. The vehicle driving system of claim 11 wherein said wiring harness has at least one optical waveguide.

13. The vehicle driving system of claim 11 wherein said first connector has electrical contacts.

14. The vehicle driving system of claim 11 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.

15. The vehicle driving system of claim 11 wherein the 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 vehicle driving system of claim 11 wherein the two dimensional array of light sensitive detectors is mounted directly to said readout integrated circuit.

17. The vehicle driving system of claim 11 wherein said ladar sensor comprises a plurality of electrical components mounted to at least one circuit substrate within said envelope.

18. The vehicle driving system of claim 11 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.

19. The vehicle driving system of claim 11 wherein said vehicle further has at least one two dimensional imaging camera sighted to have a field of view overlapping said 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.

20. The vehicular driving system of claim 11 wherein the vehicle further has a duplex radio link adapted to communicate with other vehicles.