Automotive auxiliary LADAR sensor

• US 10,377,373 B2
• Filed: 10/30/2017
• Issued: 08/13/2019
• 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
• Primary Examiner(s): Jeanglaude, Gertrude Arthur
• Application Number:
  US15/797,405
• Publication Number:
  US 20180056993A1
• Time in Patent Office: 652 Days
• Field of Search: 701301
• 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 collision avoidance system comprising:

a vehicle having at least one ladar sensor mounted thereto, the vehicle having a cutout in a body panel, and the at least one ladar sensor operating therethrough, a retention feature on the at least one ladar sensor adapted to mate with a complementary feature on the vehicle, the ladar sensor having a first connector attached thereto,

and a wiring harness having a first end connecting to said first connector, the wiring harness having a second end connected to a digital processor mounted within the vehicle, and the digital processor receiving three dimensional data from the ladar sensor through the wiring harness,

and a control system which controls the path of said vehicle, said digital processor applying controls through said control system to conduct the vehicle along a preferred path,

and a vertical sensor adapted to provide pitch and roll measurements to said digital processor,

and at least one memory circuit connected to said digital processor,

and a temperature stabilized frequency reference connected to said digital processor;

and the ladar sensor comprising

a receiving lens,

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

a range correction circuit having a zero range reference output,

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 said 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.

2. The collision avoidance 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, phosphorus.

3. The collision avoidance 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.

4. The collision avoidance 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 collision avoidance system of claim 1 wherein the readout integrated circuit is mounted to a ceramic substrate.

6. The collision avoidance system of claim 1 wherein said control system controls a vehicle system selected from the set of steering, braking, and suspension.

7. The collision avoidance 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.

8. The collision avoidance 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.

9. The collision avoidance system of claim 1 wherein said electrical response signal demodulator comprises:

an input amplifier with an output connected to a plurality of analog sampling gates, each sampling gate with an associated analog memory cell,

a sample clock controlling the timing of each of said sampling gates,

a selector for selecting each of said sampling gates,

an output amplifier with an input connected to each of said analog memory cells,

an output control for selecting one of said analog memory cell contents to be output through said output amplifier,

and wherein an input of an analog to digital converter is connected to said output amplifier, an output of said analog to digital converter connected to an input of a digital processor and said analog to digital converter producing a sequence of digitized analog samples of said electrical response signal, and said digital processor programmed to demodulate said electrical response signal by operating on the sequence of digitized analog samples using a digital processing algorithm.

10. The apparatus of claim 1 wherein said electrical response signal demodulator comprises:

an input amplifier with an output connected to a first input of a phase comparator, the phase comparator having a phase reference signal connected to a second input, and an output of the phase comparator connected to the input of an integrator, the integrator having an integrator output with an output voltage indicative of the difference in phase between the first input and the second input of said phase comparator.

11. The collision avoidance 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.

12. A ladar sensor and vehicle comprising:

a vehicle having a cutout in a body panel, and having a first retention feature, said vehicle having at least one ladar sensor, and said ladar sensor operating through said cutout,

the vehicle further having a wiring harness and a first connector attached at a first end of said wiring harness, the wiring harness also connecting to a digital processor mounted within the vehicle,

a vertical reference mounted to the vehicle and adapted to provide pitch and roll measurements to the digital processor,

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

and the ladar sensor comprising;

a second connector adapted to mate with the first 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 range correction 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 also connected to the zero range reference output, and,

an envelope enclosing the ladar sensor,

said envelope having at least one transparent section, and,

said envelope also having a second retention feature adapted to mate with said first retention feature, and the envelope thereby mounted to the vehicle.

13. The ladar sensor and vehicle of claim 12 wherein said wiring harness has at least one optical waveguide.

14. The ladar sensor and vehicle of claim 12 wherein said first connector has a plurality of electrical contacts.

15. The ladar sensor and vehicle of claim 12 wherein said first connector has at least one optical mating surface.

16. The ladar sensor assembly and vehicle of claim 12 wherein said envelope is molded from a transparent plastic.

17. The ladar sensor and vehicle of claim 12 wherein said second retention feature is comprised of beams with tapered ramps which deflect upon engagement with a body panel cutout of a vehicle and spring back towards a rest position, thereby retaining the ladar sensor within the cutout when fully inserted into said panel.

18. The ladar sensor and vehicle of claim 12 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.

19. The ladar sensor and vehicle 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.

20. The ladar sensor and vehicle of claim 12 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.

21. The ladar sensor and vehicle of claim 12 wherein said readout integrated circuit is mounted to a ceramic substrate.

22. The ladar sensor and vehicle 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, mirror assembly, and brake light.

23. The ladar sensor and vehicle of claim 12 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.

24. The ladar sensor and vehicle of claim 12 wherein said laser transmitter is an array of semiconductor lasers modulated by a current controlled by at least one transistor.

25. A collision avoidance system comprising:

at least one ladar sensor mountable to a vehicle for providing three dimensional data relating to one or more objects in a field of view, the at least one ladar sensor comprising

a laser transmitter having a diffusing optic adapted to project light and illuminate the field of view,

a receiving lens for receiving light reflected off the one or more objects,

an 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 said modulated laser light output,

a range correction circuit having a zero range reference output, and

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 detectors, 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 the zero range reference output;

a digital processor mountable to the vehicle and in communication with the at least one ladar sensor for receiving the three dimensional data from the at least one ladar sensor;

a control system configured to control a driving path of the vehicle, the digital processor applying controls through the control system to conduct the vehicle along a preferred path; and

a vertical sensor adapted to provide pitch and roll measurements to the digital processor.