Multifunction vehicle detection system

• US 10,684,370 B2
• Filed: 02/16/2018
• Issued: 06/16/2020
• Est. Priority Date: 09/29/2017
• Status: Active Grant

• Current Assignee: Veoneer, Inc. (SSW Partners LP)
• Original Assignee: Veoneer US Inc. (SSW Partners LP)
• Inventors: DeMersseman, Bernard, Hallstig, Emil, Sjoberg, Jonas, Hansson, Peter
• Primary Examiner(s): Brown, Jr., Howard D
• Application Number:
  US15/898,392
• Publication Number:
  US 20190101644A1
• Time in Patent Office: 851 Days
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• 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 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof

Abstract

A detection system for a vehicle in an environment includes a lens within an aperture. A line camera is configured to receive light passing through the lens from the environment to generate image data. A LiDAR system is configured to transmit light through the lens to the environment and receive light passing through the lens from the environment to generate range data.

Claims

1. A detection system for a vehicle in an environment, comprising:

a lens within an aperture;

a line camera configured to receive light passing through the lens from the environment to generate image data, wherein the line camera is a time delay integrating line camera; and

a LiDAR system configured to transmit light through the lens to the environment and receive light passing through the lens from the environment to generate range data.

2. The detection system of claim 1 wherein the LiDAR system is further configured to transmit light within a set region of the electromagnetic spectrum;

and the line camera is configured to receive light within the set region.

3. The detection system of claim 2 wherein the set region is near-infrared and the line camera is near-infrared sensitive.

4. The detection system of claim 3 further comprising at least one infrared transmitter configured to transmit a light beam within the infrared region of the electromagnetic spectrum into the environment.

5. The detection system of claim 2 wherein the set region is infrared and the line camera is infrared sensitive.

6. The detection system of claim 1 wherein:

the line camera is an RGB camera; and

the image data comprises a high resolution color video stream.

7. The detection system of claim 1 wherein the line camera comprises a plurality of RGB pixels and near infrared pixels.

8. The detection system of claim 1 wherein the line camera comprises a plurality of optical receivers arranged in a column extending along a first axis, each optical receiver configured to receive light reflected from an object within the environment, the object having a position corresponding to a position of said optical receiver with respect to the first direction.

9. The detection system of claim 1 wherein:

the detection system is configured to scan by changing the line of vision of the line camera and LiDAR system along a transverse plane substantially orthogonal to the first axis; and

the line camera is a time delay integrating camera configured to generate high resolution image data based upon;

the light received by the line camera;

the position of each optical receiver within the array; and

a speed of the scan.

10. The detection system of claim 1 further comprising:

a light source configured to distribute light within a set region of the electromagnetic spectrum to illuminate the environment,

wherein the line camera is configured to receive light within the set region.

11. The detection system of claim 1 wherein:

the LiDAR system comprises;

a plurality of transmitters arranged in a column extending along a first axis; and

a plurality of receivers arranged in a column extending along the first axis, each receiver configured to receive a reflection of at least one light beam sent by a transmitter from a shared position with respect to the first axis.

12. The detection system of claim 1 wherein:

each optical receiver of the array of optical receivers is configured to receive light from a position within the environment corresponding to the position of said optical receiver with respect to the first axis; and

the LiDAR system comprises;

a plurality of transmitters arranged in a column extending along the first axis; and

a plurality of receivers arranged in a column along the first axis, each receiver configured to receive a reflection of one light beam sent by a transmitter from a shared position with respect to the first axis.

13. The detection system of claim 1 further comprising a scanning mirror positioned to direct light between the outside environment and the lens such that the scanning mirror is rotatable to change a field of view of the line camera and the LiDAR system in a transverse direction, the transverse direction substantially orthogonal to the first axis.

14. The detection system of claim 1 further comprising a controller configured to:

modify data elements of the image data based on data elements of the range data corresponding to a shared time and location within the environment; and

modify data elements of the range data based on data elements of the image data corresponding to a shared time and location within the environment.

21. The detection system of claim 1 wherein the line camera comprises an array of optical receivers comprising a plurality of columns of optical receivers, each column extending along a first axis.

15. A detection system for a vehicle in an environment, comprising:

a housing defining an aperture;

a lens within the aperture;

a time delay integrating (TDI) line camera comprising a plurality of optical receivers configured to receive light within a set region of the electromagnetic spectrum passing through the lens from the environment;

a plurality of LiDAR transmitters, each LiDAR transmitter configured to transmit a light beam through the lens; and

a plurality of LiDAR receivers, each LiDAR receiver configured to receive a reflected light beam of a corresponding LiDAR transmitter, the reflected light beams passing through the lens from the environment after reflecting off an object in the environment.

16. The detection system of claim 15 further comprising:

a first support member having a first surface forming a first plane facing the lens, the LiDAR receivers coupled to the first surface of the first support member; and

a second support member positioned between the first support member and the lens and having a first surface facing the lens and a second surface facing the first support member, the second support member defining holes matching the size and position of the LiDAR transmitters and receivers to allow the reflected light beams to pass therethrough for receipt by the LiDAR receivers.

17. The detection system of claim 16 further comprising:

a third support member having a first surface forming a second plane orthogonal to the first plane, the LiDAR transmitters coupled to the first surface of the third support member to transmit the light beams parallel to a first axis orthogonal to the second plane; and

a beam splitter disposed between the lens and the second support member, the beam splitter configured to;

deflect the transmitted light beams along a second axis orthogonal to the first axis; and

allow the reflected light beams to pass therethrough,

wherein the TDI line camera is coupled to the first surface of the second support member.

18. The detection system of claim 16 wherein the LiDAR transmitters are coupled to the first surface of the second member.

19. The detection system of claim 18 further comprising:

a third support member having a first surface forming a second plane orthogonal to the first plane, the TDI line camera coupled to the third support member;

a first beam splitter positioned between the lens and the first surface of the second support member, the first beam splitter configured to;

deflect the transmitted light beams from a first axis orthogonal to the second plane to a second axis orthogonal to the first axis and passing through the lens;

allow the reflected light beams to pass therethrough; and

a second beam splitter positioned between the first beam splitter and the lens, the second beam splitter configured to;

deflect light within the set region of the electromagnetic spectrum from the second axis to a direction parallel to the first axis and into the TDI line camera;

allow the transmitted light beams to pass therethrough; and

allow the reflected light beams to pass therethrough.

20. The detection system of claim 19 wherein the detection system is configured such that the transmitted light beams, the reflected light beams, and the light within the set region of the electromagnetic spectrum received by the TDI line camera pass through the lens substantially along the second axis.