This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Dynamically Adjustable LiDAR with SPAD Array and Scanner
Technical Paper
2021-01-0091
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Event:
SAE WCX Digital Summit
Language:
English
Abstract
An important function of an Automated Driving (AD) system is to detect objects including vehicles and pedestrians on the road. Typical devices for detecting those objects include cameras, millimeter-wave RADAR, and light detection and ranging (LiDAR). LiDAR uses the flight time of a short-wavelength electromagnetic wave. Because of that LiDAR is expected to find even small objects such as tire fragments on a road in high resolution. The detection performance required for LiDAR depends on the operational design domain (ODD). For example, while a vehicle is travelling at high speeds, LiDAR needs to detect apparently small objects at long distances, and while it is travelling at low speeds, LiDAR has to detect objects over a wide angular range. Conventional LiDAR is developed to satisfy all requirements, providing performance including detection distance, resolution, and angle of view tends to expose issues such as cost and size when it is mounted onboard.
To solve these problems, we have built LiDAR with a new structure consisting of an originally developed light receiving unit and scanning unit, which are the main components. The light receiving units uses an array of high-sensitivity single-photon avalanche diodes (SPADs). Its vertical resolution can be selected by changing the number of SPADs per pixel. The scanning unit has introduced a reciprocal motion system, which enables dynamically choosing the range and speed of scanning, with the range of scanning 100 ° or wider. With these mechanisms, it is possible to select a high-resolution and narrow-angle mode when detecting small objects at long distances, and low-resolution and wide-angle mode for detecting many objects at short distances. Therefore, the LiDAR can adjust its performance dynamically according to driving scenes. We have confirmed that our LiDAR is effective for detecting objects under various conditions.
Authors
Citation
Nakajima, M., Hata, T., Ueno, A., Ozaki, N. et al., "Dynamically Adjustable LiDAR with SPAD Array and Scanner," SAE Technical Paper 2021-01-0091, 2021, https://doi.org/10.4271/2021-01-0091.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 |
Also In
References
- Rupp , J.D. and King , A.G. Autonomous Driving-A Practical Roadmap SAE Tech. Paper, No. 2010-01-2335 2010 https://doi.org/10.4271/2010-01-2335
- Schwarz , B. LIDAR Mapping the World in 3D Nature Photonics 4.7 429 430 2010 10.1038/nphoton.2010.148
- Ito , K. , Niclass , C. , Aoyagi , I. , Matsubara , H. , Soga , M. , Kato , S. , Maeda , M. , and Kagami , M. System Design and Performance Characterization of a MEMS-Based Laser Scanning Time-of-Flight Sensor Based on a 256 x 64-Pixel Single-Photon Imager IEEE Photonics Journal 5.2 2013 10.1109/JPHOT.2013.2247586
- Gelbart , A. , Redman , B.C. , Light , R.S. , Schwartzlow , C.A. , and Griffis , A.J. 29 July 2002 10.1117/12.476407
- Hata , T. , Ozaki , N. , Murakami , Y. , Azuma , K. et al. High Resolution LiDAR Based on Single Chip SPAD Array SAE Technical Paper 2019-01-0119 2019 https://doi.org/10.4271/2019-01-0119
- Takai , I. et al. Single-Photon Avalanche Diode with Enhanced NIR-Sensitivity for Automotive LIDAR Systems Sensors 16.4 459 2016 10.3390/s16040459
- Mao , T. , Wang , Z. , and Wang , Q. Receiver Design for SPAD-Based VLC Systems under Poisson-Gaussian Mixed Noise Model Opt. Express 25 799 809 2017 10.1364/OE.25.000799
- Niclass , C. , Soga , M. , Matsubara , H. , and Kato , S. A 100m-Range 10-Frame/s 340×96-Pixel Time-of-Flight Depth Sensor in 0.18μm CMOS IEEE ESSCIRC 107 110 Sept., 2011 10.1109/ESSCIRC.2011.6044926
- Niclass , C. , Soga , M. , Matsubara , H. , Ogawa , M. , and Kagami , M. 10.1109/ISSCC.2013.6487827