公开(公告)号：EP0805359A2

公开(公告)日：1997-11-05

申请号：EP97107198.0

申请日：1997-04-30

申请人： HE HOLDINGS, INC. dba HUGHES ELECTRONICS

发明人： Fink, David ,  Halmos, Maurice ,  Goran, David

IPC分类号： G01S7/487 ,  F41G11/00

CPC分类号： G01S17/10 ,  G01S7/481 ,  G01S7/4873 ,  G01S7/497

摘要： A laser rangefinding system utilizes multiple pulse, multiple return, modal range processing for clutter rejection. A laser source (58) emits a series of laser beam pulses (60), and each reflected return from objects (54, 56) in a scene (52) for each of the pulses (60) is recorded. Each return signal above a predetermined threshold is added as a count to a count table within a selected bin representing the range of the return signal. After all of the analog return signals are recorded, the range bin with the most counts is selected as the range of a target (54).

摘要翻译： 激光测距系统利用多脉冲，多重返回，模态范围处理进行杂波抑制。 激光源（58）发射一系列激光束脉冲（60），并记录每个脉冲（60）的场景（52）中从物体（54,56）返回的每一个的每个反射回波。 将高于预定阈值的每个返回信号作为计数添加到表示返回信号的范围的所选择的bin内的计数表。 在记录所有模拟返回信号之后，选择具有最多计数的范围仓作为目标的范围（54）。

公开(公告)号：EP0269902A2

公开(公告)日：1988-06-08

申请号：EP87116277.2

申请日：1987-11-05

申请人： Deutsche Aerospace AG

发明人： Spies, Hans ,  Spies, Martin

IPC分类号： G01S17/10 ,  G01S7/48

CPC分类号： G01S17/107 ,  G01S7/4873

摘要： Die Erfindung bezieht sich auf ein Verfahren und eine Einrichtung zum Bestimmen der Entfernung zwischen zwei Objekten, insbesondere zwei Kraftfahrzeugen. Vom ersten Objekt wird ein Lichtimpuls ausgesendet. Die rückgestreu­ten und reflektierten Anteile werden in einem Empfänger (6) am Ort des ersten Objektes empfangen und anschließend differenziert. Aus dem differenzierten Empfangssignal (Eʹ) wird eine Amplitudenhäufigkeitsverteilung (V) aufgestellt. Aus dieser Amplitudenhäufigkeitsverteilung werden, ausge­hend von einer Rauschmittelwertamplitude (R1, R2) mehrere positive und negative Amplitudenschwellen (A1 bis A4) bestimmt. Von dem differenzierten Empfangssignal (Eʹ) werden nur solche Signalanteile (SNʹ, S1ʹ, S2ʹ) berück­sichtigt, die die positiven und negativen Amplituden­schwellen in einer definierten Zeit überschreiten. Durch einen Vergleich der berücksichtigten Signale mit der Impulsform des ausgesendeten Lichtimpulses können die Nutzsignale (S1ʹ, S2ʹ) eindeutig auch aus stark verrausch­ten Empfangssignalen separiert werden.

摘要翻译： 所述第一对象发出的光脉冲。 反向散射和反射的分量在接收器（6）在所述第一对象的位置接收并随后区分。 从微分接收信号（E“）于幅度 - 频率分布（V）成立。 从该幅频分布，几个阳性和阴性振幅阈值（A1到A4）是确定性的开采平均值噪声振幅（R1，R2）的基础上。 分化的接收到的信号（E“）中，只有那些信号分量（SN”，S1”，S2' ）的考虑中超过规定的时间内的正和负振幅的阈值。 通过用发射的光脉冲的脉冲形状所考虑的信号进行比较，所述有用信号（S1”，S2' ）可以明确地分离出来，即使高噪声的接收信号的。

公开(公告)号：EP3566078B1

公开(公告)日：2024-08-21

申请号：EP18704295.7

申请日：2018-01-03

IPC分类号： G01S17/93 ,  G01S7/02 ,  G01S7/48 ,  G01S7/484 ,  G01S7/487 ,  G01S17/89

CPC分类号： G01S7/026 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4873 ,  G01S17/931 ,  G01S7/4808 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/894 ,  G06V20/58 ,  G06V10/60 ,  G06V20/625 ,  G06V10/82 ,  G06F18/2414

公开(公告)号：EP4411415A1

公开(公告)日：2024-08-07

申请号：EP23217596.8

申请日：2023-12-18

申请人： Omron Corporation

发明人： TOMAGO, Norihiro ,  ANDO, Shintaro ,  TSUZUKI, Ryosuke

IPC分类号： G01S7/4865 ,  G01S7/487 ,  G01S17/14 ,  G01S17/88

CPC分类号： G01S7/4865 ,  G01S7/4873 ,  G01S17/14 ,  G01S17/88

摘要： To provide a sensor device (100) capable of more accurately detecting a target using rough measurement and fine measurement. A sensor device (100) includes: a light emitter (10) configured to emit detection light toward a target; a light receiver (20) configured to receive reflected light of the detection light and generates a binarization signal; a counter measurer (32) configured to generate first and second timings on a basis of the binarization signal; a delay line (33) configured to receive and propagate the binarization signal; first and second memories configured to record binarization signals propagated through the delay line (33) on a basis of the first and second timing, respectively, the binarization signals each being the binarization signal; an integrator (34) configured to generate first and second sets of integrated waveform data by integrating the binarization signals recorded in the first and second memories, respectively, corresponding to a plurality of times of light emission in the light emitter (10); a distance converter (38) configured to calculate a measured distance value to the target on a basis of the first and second sets of integrated waveform data; and a determiner (51) configured to determine presence or absence of the target on a basis of the measured distance value.

公开(公告)号：EP3411660A1

公开(公告)日：2018-12-12

申请号：EP16871363.4

申请日：2016-11-29

申请人： Luminar Technologies, Inc.

发明人： VILLENEUVE, Alain ,  EICHENHOLZ, Jason, M. ,  RUSSELL, Austin, K. ,  CAMPBELL, Scott, R. ,  CLEYE, Rodger, W. ,  LACHAPELLE, Joseph, G. ,  WEED, Matthew, D. ,  MARTIN, Lane, A.

IPC分类号： G01C3/08 ,  G01B11/26 ,  G01C1/00 ,  G01C1/06

CPC分类号： G01S17/105 ,  G01S7/4804 ,  G01S7/4811 ,  G01S7/4814 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/483 ,  G01S7/484 ,  G01S7/4861 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/4873 ,  G01S7/4876 ,  G01S17/00 ,  G01S17/02 ,  G01S17/06 ,  G01S17/08 ,  G01S17/10 ,  G01S17/102 ,  G01S17/32 ,  G01S17/42 ,  G01S17/88 ,  G01S17/89 ,  G01S17/936 ,  H01S3/0007 ,  H01S3/0078 ,  H01S3/0085 ,  H01S3/06733 ,  H01S3/0675 ,  H01S3/06754 ,  H01S3/06758 ,  H01S3/08086 ,  H01S3/094003 ,  H01S3/094042 ,  H01S3/094076 ,  H01S3/0941 ,  H01S3/10023 ,  H01S3/1106 ,  H01S3/1608 ,  H01S3/2383 ,  H01S5/0057 ,  H01S5/0085 ,  H01S5/4012 ,  H01S5/4087 ,  H01S2301/02

摘要： In one embodiment, a lidar system includes a light source configured to emit pulses of light. The lidar system also includes multiple optical links and multiple sensor heads. Each optical link couples the light source to a corresponding sensor head, and each optical link is configured to convey at least a portion of the emitted pulses of light from the light source to the corresponding sensor head. Each sensor head includes a scanner configured to scan pulses of light across a field of regard of the sensor head, where the scanned pulses of light include the portion of the emitted pulses of light conveyed from the light source to the sensor head by the corresponding optical link. Each sensor head also includes a receiver configured to detect at least a portion of the scanned pulses of light scattered or reflected by a target located downrange from the sensor head.

公开(公告)号：EP3217189A1

公开(公告)日：2017-09-13

申请号：EP17158206.7

申请日：2017-02-27

申请人： Ricoh Company, Ltd.

发明人： IMAI, Shigeaki

IPC分类号： G01S17/10 ,  G01S17/42 ,  G01S7/487 ,  G01S17/93

CPC分类号： G01S7/4873 ,  G01S17/105 ,  G01S17/42 ,  G01S17/936

摘要： An object detector (100) includes a light-projection system (10) including a light source (11); a light-receiving element (42) to receive light emitted from the light-projection system (10) and reflected by an object; and a signal processing circuit (44c). The signal processing circuit (44c) adds an offset signal, which temporally changes an offset amount, to a voltage signal output from the light-receiving element (42) that varies according to an output current of the light-receiving element (42).

摘要翻译： 物体检测器（100）包括包括光源（11）的光投射系统（10）; 光接收元件（42），用于接收从光投影系统（10）发射并被物体反射的光; 和信号处理电路（44c）。 信号处理电路（44c）将根据光接收元件（42）的输出电流而变化的从光接收元件（42）输出的电压信号与时间上改变偏移量的偏移信号相加。

公开(公告)号：EP3051319A4

公开(公告)日：2017-05-03

申请号：EP14849471

申请日：2014-07-22

申请人： ALPHA CORP ,  NISSAN MOTOR

发明人： RAI SHUN ,  ONO TAKASHI ,  TANAKA KAZUYA ,  HIRAI WATARU

IPC分类号： G01V8/20 ,  B60J5/00 ,  B60J5/04 ,  E05B49/00 ,  G01S7/487 ,  G01S7/497 ,  G01S17/02 ,  G01S17/88 ,  H03K17/78

CPC分类号： E05F15/73 ,  E05F2015/765 ,  E05Y2900/532 ,  G01S7/4873 ,  G01S7/497 ,  G01S17/026 ,  G01S17/88 ,  G01V8/12 ,  G01V8/14 ,  H03K17/941

摘要： The purpose of this invention is to provide a vehicular reflective optical sensor that has improved control reliability. Said vehicular reflective optical sensor is provided with a control unit (6) that: emits detection light (3) at prescribed intervals from a light-emitting unit (2) on an exterior panel of a vehicle towards a detection region (1) set outside said vehicle; tests for a threshold-exceeded state in which the amount of light in a light reflection (4) received from the detection region (1) by a light-receiving unit (5) exceeds a prescribed detection threshold; and, if it is detected that a detection target has entered the detection region (1), outputs a detection-confirmation signal. The control unit (6) uses, as the aforementioned detection threshold, the sum of a predetermined fixed value and an adjustment value comprising a summary statistic for the amounts of light in an appropriate number of light reflections (4) preceding the light reflection (4) on which the comparison is being performed.

摘要翻译： 本发明的目的是提供一种具有改进的控制可靠性的车辆反射光学传感器。 所述车辆用反射型光传感器具备：控制部（6），其从车辆的外板上的发光部（2）以规定的间隔向设定在外部的检测区域（1）照射检测光（3） 所述车辆; 测试光接收单元（5）从检测区域（1）接收到的光反射（4）中的光量超过规定的检测阈值的阈值超出状态; 并且如果检测到检测目标已经进入检测区域（1），则输出检测确认信号。 控制单元（6）使用作为上述检测阈值的预定的固定值和包括光反射之前适当数量的光反射（4）中的光量的汇总统计量的调整值的总和（4） ）正在进行比较。

公开(公告)号：EP3051319A1

公开(公告)日：2016-08-03

申请号：EP14849471.9

申请日：2014-07-22

申请人： Alpha Corporation ,  NISSAN MOTOR CO., LTD.

发明人： RAI Shun ,  ONO Takashi ,  TANAKA Kazuya ,  HIRAI Wataru

IPC分类号： G01V8/20 ,  B60J5/00 ,  B60J5/04 ,  E05B49/00 ,  G01S17/88 ,  H03K17/78

CPC分类号： E05F15/73 ,  E05F2015/765 ,  E05Y2900/532 ,  G01S7/4873 ,  G01S7/497 ,  G01S17/026 ,  G01S17/88 ,  G01V8/12 ,  G01V8/14 ,  H03K17/941

摘要： The purpose of this invention is to provide a vehicular reflective optical sensor that has improved control reliability. Said vehicular reflective optical sensor is provided with a control unit (6) that: emits detection light (3) at prescribed intervals from a light-emitting unit (2) on an exterior panel of a vehicle towards a detection region (1) set outside said vehicle; tests for a threshold-exceeded state in which the amount of light in a light reflection (4) received from the detection region (1) by a light-receiving unit (5) exceeds a prescribed detection threshold; and, if it is detected that a detection target has entered the detection region (1), outputs a detection-confirmation signal. The control unit (6) uses, as the aforementioned detection threshold, the sum of a predetermined fixed value and an adjustment value comprising a summary statistic for the amounts of light in an appropriate number of light reflections (4) preceding the light reflection (4) on which the comparison is being performed.

公开(公告)号：EP2972471A1

公开(公告)日：2016-01-20

申请号：EP14714039.6

申请日：2014-03-06

申请人： Pouch Holdings LLC

发明人： SCHWARZ, Brent, S. ,  HASLIM, James, A. ,  ITURRAN, Nicholas, M. ,  KARASOFF, Michael

IPC分类号： G01S7/486 ,  G01S7/487 ,  G01S7/481 ,  G01S17/10 ,  G01S7/497

CPC分类号： G01S7/4808 ,  G01C3/08 ,  G01S7/4818 ,  G01S7/4865 ,  G01S7/4873 ,  G01S17/10 ,  G01S2007/4975

摘要： A LiDAR sensor can include a laser, a directional sensor, a window, an electromagnetic pulse receiving sensor, and a processor. The laser can be configured to emit a narrow electromagnetic pulse. Further, the directional sensor can be configured to measure the direction of the narrow electromagnetic pulse emitted by the laser. The narrow emitted electromagnetic pulse can pass through the window. The pulse can then be reflected by at least the window and an object external from the LiDAR sensor, creating at least two reflected pulses. The electromagnetic pulse receiving sensor can be configured to measure the two reflected pulses resulting from the narrow pulse emitted by the laser. The processor can be configured to receive information from the sensors, indicating a position of the object relative to the LiDAR sensor. Further, the processor can be configured to measure the intensity of the pulse being reflected by the window.

摘要翻译： LiDAR传感器可以包括激光器，定向传感器，窗口，电磁脉冲接收传感器和处理器。 激光器可以配置成发射一个窄的电磁脉冲。 此外，方向传感器可以被配置为测量由激光器发射的窄电磁脉冲的方向。 窄的发射电磁脉冲可以通过窗口。 然后可以至少将该脉冲和来自LiDAR传感器的外部物体反射出脉冲，从而产生至少两个反射脉冲。 电磁脉冲接收传感器可以被配置为测量由激光发射的窄脉冲产生的两个反射脉冲。 处理器可以被配置为从传感器接收信息，指示对象相对于LiDAR传感器的位置。 此外，处理器可以被配置为测量被窗口反射的脉冲的强度。

公开(公告)号：EP2941622A1

公开(公告)日：2015-11-11

申请号：EP14735279.3

申请日：2014-01-06

申请人： Brightway Vision Ltd.

发明人： GRAUER, Yoav ,  OFER, David ,  LEVI, Eyal

IPC分类号： G01C3/08 ,  G01S17/00 ,  H04N5/30

CPC分类号： G01B11/22 ,  G01C3/08 ,  G01S7/4811 ,  G01S7/4817 ,  G01S7/4873 ,  G01S17/107 ,  G01S17/42 ,  G06T7/50 ,  H04N5/04 ,  H04N5/2256 ,  H04N5/23296 ,  H04N5/33

摘要： A method for detecting objects in a scene using a synchronized illuminating and sensing process is provided herein. The method includes the following steps: illuminating a light beam along an illumination line within a scene; sensing reflections of said light, wherein said reflections come from objects located within a specified depth of field within said scene, along a sensing line; generating a tempo spatial synchronization between the illumination line and the sensing line, wherein said synchronization determines said depth of field; relatively shifting at least one of: the illuminating line, and the sensing line, based on said tempo spatial synchronization; and accumulating said reflections, thereby detecting said objects.