AUTOMOTIVE AUXILIARY LADAR SENSOR
First Claim
1. A ladar sensor assembly and vehicle comprising:
- a vehicle having a cutout in a body panel, said cutout being at the periphery of said vehicle and having a shape adapted to receive a mating retention feature on a ladar sensor assembly, said vehicle further having a first digital processor, a wiring harness and a first connector attached at a terminus of said wiring harness,and said ladar sensor assembly mounted to said vehicle and comprising;
an envelope enclosing a ladar sensor,said envelope having at least one transparent section,said envelope also having at least one retention feature,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 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 optics, 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 said electrical response signal demodulator, said range measuring circuit further connected to a reference signal providing a zero range reference for the said range measuring circuit,a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors,a second digital processor connected to receive an output from the range measuring circuit,and a temperature stabilized frequency reference connected through the digital processor to provide clocking signals.
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0 Petitions
Accused Products
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.
268 Citations
29 Claims
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1. A ladar sensor assembly and vehicle comprising:
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a vehicle having a cutout in a body panel, said cutout being at the periphery of said vehicle and having a shape adapted to receive a mating retention feature on a ladar sensor assembly, said vehicle further having a first digital processor, a wiring harness and a first connector attached at a terminus of said wiring harness, and said ladar sensor assembly mounted to said vehicle and comprising; an envelope enclosing a ladar sensor, said envelope having at least one transparent section, said envelope also having at least one retention feature, 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 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 optics, 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 said electrical response signal demodulator, said range measuring circuit further connected to a reference signal providing a zero range reference for the said range measuring circuit, a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors, a second digital processor connected to receive an output from the range measuring circuit, and a temperature stabilized frequency reference connected through the digital processor to provide clocking signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A vehicle and collision avoidance system comprising:
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a vehicle having at least one ladar sensor assembly mounted thereto, said vehicle having a cutout in a body panel, said cutout being at the periphery of said vehicle and having a shape adapted to receive a mating retention feature on said at least one ladar sensor assembly, and said vehicle further having a first digital processor and a wiring harness, a first connector attached at a terminus of said wiring harness, said first connector adapted to mate with a connector of said at least one ladar sensor assembly, and said vehicle first digital processor receiving three dimensional data from said at least one ladar sensor assembly and a control system which controls the path and velocity of said vehicle, said first digital processor applying controls through said control system to conduct said vehicle along a preferred path; and said at least one ladar sensor assembly comprising a receiving lens, a laser transmitter, said laser transmitter with a modulated laser light output and a diffusing optic for illuminating a scene in a field of view of said at least one ladar sensor assembly, 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 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 said 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 a reference signal providing a zero range reference for the said range measuring circuit, and a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors; a second digital processor connected to receive data outputs from the range measuring circuits and to conduct operations on said data outputs, and to provide processed digital outputs to said first digital processor, and a temperature stabilized frequency reference connected to the second digital processor. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification