Patent Grant
11675064
The present invention relates to an optical radar apparatus. In particular, the invention relates to as optical radar apparatus by which a three-dimensional image mainly constituted by a two-dimensional image of an object and information of a distance to the object is acquired.
A three-dimensional image has a concept that includes not only a normal two-dimensional image such as a photograph but also information of a distance to an object within a field of view, and application of peripheral recognition is automobiles, robots, and the—shaped has been spreading in recent years. As a method of measuring distance information with high accuracy, a method of radiating laser light and measuring a flight time (Time-of-flight) until the laser light is reflected by the object and returns therefrom is becoming spread.
A method of radiating laser light to a whole of a field of view includes a scanning type in which a laser beam that is narrowed into a dot shape (refer to NPL 1) or a band shape (refer to PTL 1) is used for scanning with a mirror or the—shaped and a single-radiation type in which a laser beam is spread and radiated almost uniformly over a whole of a field of view. In particular, many scanning types in which strong beam intensity is easily obtained at an object have been developed. The scanning type is expensive and increased in size because it requires a mechanical configuration for performing scanning with the beam. On the other hand, the single-radiation type is easily reduced in size because it does not require a mechanical configuration for scanning, but laser light intensity at the object is weaker as compared to that of the scanning type, so that when a distance to the object is long, signal intensity becomes weak and accuracy of distance measurement is lowered.
In an existing optical radar apparatus, polarization of a laser beam to be radiated or reflection light is not generally controlled. This is because, even when a polarized laser beam is radiated, polarizability is often lost due to reflection by the object, and when only a specific polarized state is detected, signal intensity is reduced by half. On the other hand, an invention in which a polarizer is provided in an optical radar apparatus is also proposed, though the number thereof is small. As an example thereof, an invention (refer to PTL 2) in which polarizers are installed on both of a radiation side and a light receiving side and the two polarizers are arranged differently by 90 degrees to thereby reduce a shielding effect by droplets of steam or the—shaped is proposed. Further, an invention (refer to PTL 3) in which a polarizer is arranged an at least one of a radiation side and a light receiving side and a function similar to that of an optical filter is achieved is also proposed.
PTL 1: Japanese Unexamined Patent Application Publication No. 2015-78953 (published on Apr. 23, 2015)
PTL 2: Japanese Unexamined Patent Application Publication No. 2016-224021 (published on Dec. 28, 2016)
PTL 3: PCT Japanese Translation Patent Publication No. 2017-506756 (published on Mar. 9, 2017)
NPL 1: IEEE JOURNAL OF SOLID-STATE CIRCUITS, VOL. 49, NO. 1, JANUARY 2014, P315-330 “A 0.18-μm CMOS SoC for a 100-m-Range 10-Frame/s 200×96-Pixel Time-of-Flight Depth Sensor.” Cristiano Niclass, Mineki Soga, Hiroyuki Matsubara, Masaru Ogawa, and Manabu Kagami
However, a conventional technique described above has a problem that an SN ratio of light to be received is low because of the following reason.
In general, an optical radar apparatus radiates laser to an object, measures a fight time (ToF) by using reflection light thereof, and measures a distance to the object. Thus, with respect to a remote object, light radiation intensity at a surface of the object is inevitably reduced. In particular, in automotive application, since the optical radar apparatus needs to operate even under midday intense sunlight directly on the equator, intense background light causes an interfering factor. Such background light causes a most serious problem when a light path in order of the sun, the surface of the object, and a light receiving unit (optical radar apparatus) satisfies the reflection law of specular reflection. A case where reflection light of such sunlight is directly incident on the light receiving unit generally occurs when the surface is inclined as viewed from the optical radar apparatus. On the other hand, a light radiation unit and the light receiving unit of the optical radar apparatus share an optical system in some cases and are generally arranged so as to be extremely close to each other, so that radiation light and received light of the optical radar apparatus are almost on the same line. Thus, since only weak and diffusive reflection of the radiation light returns from the inclined surface of the object as described above, the background light becomes very great with respect to signal light and a distance is difficult to be measured. Further, such a situation is caused at a part corresponding to an outline of the object, so that a problem that information of the outline part is lost and it also becomes difficult to recognize a shape is also posed.
An aspect of the invention aims to realize an optical radar apparatus capable of improving an SN ratio of light to be received.
In order to solve the aforementioned problems, an optical radar apparatus according to an aspect of the invention includes: a light source that emits pulse light; a scanning device that performs scanning in one direction with the pulse light; a beam generator that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor that uses reflection light from an object illuminated with illumination light obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; a polarizing filter that is arranged in a light path extending from the object to a light receiving unit of the sensor and allows transmission of light polarized in the direction vertical to the direction of the scanning; a sub sensor that is different from the sensor; and a sub polarizing filter that is arranged in a light path extending from the object to a light receiving unit of the sub sensor and allows transmission of light polarized in a direction parallel to the direction of the scanning. In order to solve the aforementioned problems, an optical radar apparatus according to an aspect of the invention includes: a light source that emits pulse light; a scanning device that performs scanning in one direction with the pulse light; a beam generator that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor that uses reflection light from an object illuminated with illumination light obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing filter that is arranged in a light path extending from the object to a light receiving unit of the sensor and allows transmission of light polarized in the direction vertical to the direction of the scanning, wherein the sensor includes: the light receiving unit including a two-dimensional array of pixels; and a pixel storage element, disposed outside the light receiving unit, that stores in time sequence a signal amount of an electric signal outputted by the pixels receiving the reflection light. In order to solve the aforementioned problems, an optical radar apparatus according to an aspect of the invention includes: a light source that emits pulse light; a scanning device that performs scanning in one direction with the pulse light; a beam generator that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor that uses reflection light from an object illuminated with illumination light obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing filter that is arranged in a light path extending from the object to a light receiving unit of the sensor and allows transmission of light polarized in the direction vertical to the direction of the scanning, wherein the scanning device is a mirror element having a reflection plane that rotationally moves about one axis, and the pulse light is linearly polarized in a direction parallel to the rotation axis of the reflection plane. In order to solve the aforementioned problems, an optical radar apparatus according to an aspect of the invention includes: a light source that emits pulse light; a scanning device that performs scanning in one direction with the pulse light; a beam generator that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor that uses reflection light from an object illuminated with illumination light obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing device that is arranged in a light path extending from the object to a light receiving unit of the sensor and is able to control a polarization direction of light to be transmitted the sensor includes: the light receiving unit including a two-dimensional array of pixels; and a pixel storage element, disposed outside the light receiving unit, that stores in time sequence a signal amount of an electric signal outputted by the pixels receiving the reflection light.
In order to solve the aforementioned problems, an optical radar apparatus according to an aspect of the invention includes: a light source that emits pulse light; a scanning device that performs scanning in one direction with the pulse light; a beam generator that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor that uses reflection light from an object illuminated with illumination light obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing device that is arranged in a light path extending from the object to a light receiving unit of the sensor and is able to control a polarization direction of light to be transmitted, wherein the scanning device is a mirror element having a reflection plane that rotationally moves about one axis, and the pulse light is linearly polarized in a direction parallel to the rotation axis of the reflection plane.
According to an aspect of the invention, it is possible to realize an optical radar apparatus capable of improving an SN ratio of light to be received.
Embodiments of the invention will be described with reference to
A configuration of an optical radar apparatus 100 according to Embodiment 1 of the invention will be described with reference to
As illustrated in
The light receiving system 140 has at least the polarizing filter 150, an imaging optical system 151, an optical band-pass filter 152, and the ToF sensor 153. The imaging optical system 151 images and projects light, which is from at least a part of the target field of view 10, onto the light receiving unit 154 through the optical band-pass filter 152. The ToF sensor 153 has a control unit 160 having a function of controlling the pulse light illumination system 110 and a function of performing communication or the like with an external system 170, and has a signal storage processing unit 155 (refer to
In the present embodiment, the light source 122 emits linearly polarized pulse light, the fan-shaped pulse light 124 is linearly polarized in parallel to a fan plane, and the polarizing filter 150 of the light receiving system 140 is arranged so as to allow passage of polarized light (refer to linearly polarized light SP1 in a paper-face parallel direction of
(Pulse light illumination system 110)
The fan-shaped pulse light 124 is spread in a fan shape in a horizontal plane and a spread angle thereof is set as a horizontal radiation angle (spread angle of the fan-shaped pulse light in the fan plane) θh. On the other hand, a spread angle in the vertical direction is small and a beam thickness is set as Δθ (full width at half maximum). The horizontal radiation angle θh>> the beam thickness Δθ is provided. When the fan-shaped pulse light 124 is used for scanning within a vertical radiation angle (scanning angle) θv in the vertical direction, the target field of view 10 with the horizontal radiation angle θh that is the spread angle in the horizontal plane and the vertical radiation angle θv that is the spread angle in the vertical direction is able to be sequentially subjected to light radiation. Note that, the horizontal radiation angle θh> the vertical radiation angle θv> the beam thickness Δθ is provided. That is, the horizontal radiation angle θh is larger than the vertical radiation angle θv. Hereinafter, when pieces of fan-shaped pulse light 124 to be radiated at different angles in the vertical direction need to be distinguished from each other, they are described as fan-shaped pulse light 124-1 to fan-shaped pulse light 124-Ns. Ns indicates a total number of times of scanning in the vertical direction.
The fan-shaped pulse light 124 is preferably uniform in the target field of view 10. However, since detection sensitivity in a place where light intensity is strong is high, in a case where there is a place that needs to be particularly gazed in the target field of view 10, the fan-shaped pulse light 124 is also able to have light intensity distribution in which intensity near the place is increased.
As illustrated in
The MEMS mirror element is, for example, an electromagnetic type, which changes an angle of a mirror by controlling an amount of a flowing current. In an electrostatic or piezoelectric type, the angle of the mirror is able to be changed by controlling an applied voltage. A configuration for controlling the one-dimensional scanning device 131 is included in the ToF sensor 153 (control unit 160 described later). Synchronous control of the angle of the mirror and the light receiving system 140 is performed so that a signal from the object 11 irradiated with the fan-shaped pulse light 124 is able to be detected. The one-dimensional scanning device 131 may be constituted by a polygon mirror, a liquid crystal waveguide system, or the like other than the MEMS mirror element.
It is preferable that the light source 122 generates linearly polarized pulse light by using the semiconductor laser chip as described above and directly outputs the pulse light because there is no loss of light. However, the light source 122 may be a light source that emits light in a non-polarized state and then makes the light in a linearly polarized state by causing the light to pass through a polarizing filter or a polarizing splitter, and thereby generates linearly polarized pulse light. The light source 122 is a light source capable of emitting laser or pulse light like an LED (Light Emitting Diode), and preferably emitting an infrared ray with a wavelength of about 700 nm to 1000 nm. Further, the light source 122 preferably has a narrow light emission wavelength band and a light emission peak wavelength whose temperature fluctuation is reduced, and infrared laser is preferable. In particular, the light source 122 is preferably a VCSEL (Vertical Cavity Surface Emitting LASER) that has a narrow light emission wavelength band and a light emission peak wavelength whose temperature fluctuation is reduced. Though not described in
The light source 122 emits pulse light in synchronization with the ToF sensor 153. Light emission intensity and/or a pulse width (half width of a light emission time) may be variable. Here, the pulse width of the pulse light is about 1 nsec to several hundreds nsec Peak power of the pulse light is several W to several hundreds W.
The optical radar apparatus 100 acquires data of 30 frames every second, and when pixel resolution of each of the frames is 0.5 degrees and the vertical radiation angle θv is 20 degrees, 40 pieces of fan-shaped pulse light 124-1 to 124-40 whose travelling angles in the vertical direction are different are radiated in one frame, for example. A time allocated to radiation of fan-shaped pulse light 124-K is 1/1200 second, and in this time, an angle of the reflection plane of the one-dimensional scanning device 131 is changed to a setting value and pulse light is emitted from the light source 122. In a case where a pulse light emission frequency is 190 kHz, each fan-shaped pulse light 124-K radiates 158 (=190,000/30/40) pulses to the object 11.
(Light receiving system 140)
The imaging optical system 151 is generally a lens. In accordance with a size of the light receiving unit 154 and a viewing angle FOV, a focal distance and an F-number are able to be appropriately selected. The imaging optical system 151 preferably has a high transmittance and a small aberration at a central wavelength of the optical band-pass filter 152 described later. Though
The optical band-pass filter 152 has a transmission band in a band of a fixed width with a wavelength peak of the pulse light as a center. A width (full width at half maximum of wavelength distribution of the transmittance) of the transmission band is several nm to several tens nm and is preferably about 10 nm to 20 nm. In general, in a case of operation outdoors, an operation temperature range is widened and a peak wavelength of the pulse light changes with temperature, so that distribution of the pulse light needs to fall within the transmission band at least in the operation temperature range. In a case of the VCSEL, a temperature shift of a peak wavelength is about 0.07 nm/degree, a half width of a light emission peak is about 1 nm, and a temperature shift of a central wavelength of the transmission band of the optical band-pass filter 152 is 0.025 nm/degree. Thus, even in consideration of a temperature zone from 85° C. to −40° C., a relative wavelength shift between the peak wavelength and the central wavelength of the transmission band is about 5.6 nm and the optical band-pass filter 152 with the transmission band of about 10 nm is usable. The optical band-pass filter 152 may be incorporated inside the imaging optical system 151.
(ToF sensor 153)
The light receiving unit 154 of the ToF sensor 153 has pixels Px (i, j) arranged in a two-dimensional matrix of M rows and N columns, and a light signal from the target field of view 10 is projected by the imaging optical system 151 onto the two-dimensional matrix of the M rows and the N columns. Not all the pixels Px (i, j) are activated at a time. Since the pulse light radiated to the target field of view 10 is the fan-shaped pulse light 124, only pixels in a row K corresponding to the fan-shaped pulse light 124-K are activated. For convenience, the fan-shaped pulse light 124 is numbered from 1 to Ns (=M) from a lowermost part to an uppermost part and i of a corresponding pixel Px (i, j) is numbered from 1 to N from an uppermost part to a lowermost part. Such correspondence is appeared because their orders are reversed to each other via the imaging optical system 151. This is able to be changed depending on a property of the imaging optical system 151. That is, when the fan-shaped pulse light 124-K is radiated, a pixel Px (K, j) is activated. The activation of the pixel Px (K, j) means that an output signal of at least the pixel Px (K, j) is transmitted to the signal storage processing unit 155. Further, supply of a power source to another pixel Px (i, j) may be stopped so that the power source is supplied only to the pixel Px (K, j).
As a circuit by which the pixel Px (K, j) of the row K corresponding to the fan-shaped pulse light 124-K is selected, a row selection circuit 161 is provided in the light receiving unit 154. Further, a row selection line R(i) that is a signal line transmitting a signal of the row selection circuit 161 to each of the pixels Px (i, j) is provided. The row selection line R (i) is not limited to a single signal line and may be a plurality of signal lines that are different in polarity and/or voltage. In synchronization with an operation of the one-dimensional scanning device 131 of the fan-shaped light radiation system 123, the row selection circuit 161 selects the row K to be activated. A signal for synchronization is generated from the control unit 160. The row selection circuit 161 may control the pixels Px (i, j), for example, so that only an output of each of pixels Px (K, j) (j=1 to N) is connected to a signal line Lx (j) or may control a switch (not illustrated) so that power source VSPAD and/or Vcc is supplied only to each of the pixels Px (K, j) (j=1 to N), or may perform both of them.
The signal storage processing unit 155 has at least one pixel storage element Mx (j) corresponding to each column j and the pixel storage element Mx (j) is connected by the respective pixels Px (i, j) and the signal line Lx (j). The pixel storage element Mx (j) receives, through the signal line Lx (j), an electric signal output by the pixel Px (K, j) upon reception of light and stores a signal amount in time sequence. The signal storage processing unit 155 further has a buffer memory Bx (j), a column signal line C (j), and a signal processing circuit DS. Data accumulated in the pixel storage element Mx (j) is copied to the buffer memory Bx (j) through the column signal line C (j) at a defined timing. The signal processing circuit DS calculates and outputs at least distance information D (K, j), two-dimensional image information G1 (K, j), and two-dimensional image information G2 (K, j) on the basis of information of the buffer memory Bx (j). The two-dimensional image information G1 (i, j) and the two-dimensional image information G2 (i, j) are respectively able to be two-dimensional image information by background light and two-dimensional image information by reflection light of the pulse light, but are not limited thereto. The signal storage processing unit 155 may have a memory selection circuit 163 and a memory selection line Rm (α) that are used to select a part of the pixel storage element Mx (j). In a case where the pixel storage element Mx (j) outputs a signal to the column signal line C (j), when all outputs are output in parallel, a large amount of wires are required. Therefore, by reading the time sequential signal amount stored in the pixel storage element Mx (j) one by one, the number of wires is able to be reduced.
The signal storage processing unit 155 of the ToF sensor 153 may have various configurations. Various systems are also cited for a signal generated by a pixel and examples thereof include a circuit that handles the signal in an analog state as it is and a circuit that handles the signal digitizing the signal. Further, a system of measuring a flight time also has various systems such as a direct method, an indirect method, a phase shift method, and TCSPC (Time-Correlated-Single-Photon-Counting), and any system is able to be adopted in the invention. In addition, instead of the light receiving unit 154 in the two-dimensional array as described above, a ToF element may be arranged in a line corresponding to one row so that scanning is performed mechanically in synchronization with the one-dimensional scanning device 131.
(Explanation of effect)
An effect by the optical radar apparatus 100 will be described with reference to
There are many support posts, such as a signal, a sign, and a guardrail, on a road. Moreover, a curved surface that is continuous in an up-down direction exists in a vehicle body of an automobile or bicycle. As a model of the curved surface that extends in the up-down direction, a column 200 of
The light receiving system 140a is used to reduce the reflection light 201R from the sun at the low altitude with respect to the object 11 (refer to
Note that, in rainy weather, the reflection light 211R by the sunlight 211 does not need to be suppressed, so that the light receiving system 140b is also able to be used to suppress reflection of the pulse light 212 due to raindrops.
The present configuration has an advantage that the reflection right 211R that causes an interfering factor is able to be suppressed regardless of fine weather or rainy weather and a distance is able to be measured without lowering accuracy.
The polarizing device 180 is able to be constituted by, for example, a polarizer through which light that is linearly polarized in one direction is transmitted and a rotation mechanism that mechanically rotates the polarizer. Alternatively, the polarizing device 180 may be a combination of a polarizer and a device that change the polarization direction by 90 degrees by applying a voltage like a liquid crystal polarization rotator, for example. Note that, the polarizing device 180 is placed in front of the imaging optical system 151 in
There is an advantage that, by using such a polarizing device 180 capable of controlling the polarization direction of the light to be transmitted, the pulse light polarized in the horizontal direction is radiated and the polarization direction of the reflection light received by the ToF sensor 153 is controlled in accordance with season, a time zone, and/or weather, so that the background light that causes an interfering factor is suppressed and a distance is able to be measured without lowering accuracy.
(Pulse light illumination system 110d)
The fan-shaped pulse light 124d is spread in a fan shape in a vertical plane and a spread angle thereof is set as a vertical radiation angle θv. On the other hand, a spread angle in the horizontal direction is small and a beam thickness is set as Δθ (full width at half maximum). The vertical radiation angle θv>> the beam thickness Δθ is provided. When the fan-shaped pulse light 124d is used for scanning within a horizontal radiation angle θh in the horizontal direction, the target field of view 10 with the horizontal radiation angle θh that is the spread angle in a horizontal plane and the vertical radiation angle θv that is the spread angle in the vertical direction is able to be sequentially subjected to light radiation. Note that, the horizontal radiation angle θh> the vertical radiation angle θv> the beam thickness Δθ is provided. That is, the horizontal radiation angle θh is larger than the vertical radiation angle θv. Hereinafter, when pieces of fan-shaped pulse light 124d to be radiated at different angles in the horizontal direction need to be distinguished from each other, they are described as fan-shaped pulse light 124d-1 to fan-shaped pulse light 124d-Nd. Nd indicates a total number of times of scanning in the horizontal direction.
The fan-shaped pulse light 124d is preferably uniform in the target field of view 10. However, since detection sensitivity in a place where light intensity is strong is high, in a case where there is a place that needs to be particularly gazed in the target field of view 10, the fan-shaped pulse light 124d is also able to have light intensity distribution in which intensity near the place is increased.
Note that, in
As illustrated in
Note that, strictly speaking, when passing through the fan-shaped beam generator 132d, light of the spot light 133d is bent in an up-down direction and a traveling direction thereof has a vertical component, so that the polarization direction of the fan-shaped pulse light 124 may be inclined from the vertical direction. Here, an inclined direction is a direction parallel to the traveling direction of the light and does not have a polarization component of the horizontal direction orthogonal to the traveling direction. The description that the fan-shaped pulse light 124 is polarized in the vertical direction means that the polarization direction does not have a horizontal component orthogonal to the traveling direction as described above.
It is preferable that the light source 122d generates linearly polarized pulse light by using the semiconductor laser chip as described above and directly outputs the pulse light because there is no loss of light. However, the light source 122d may be a light source that emits light in a non-polarized state and then makes the light in a linearly polarized state by causing the light to pass through a polarizing filter or a polarizing splitter, and thereby generates linearly polarized pulse light. The light source 122d is a light source capable of emitting laser or pulse light like an LED, and preferably emitting an infrared ray with a wavelength of about 700 nm to 1000 nm. Further, the light source 122d preferably has a narrow light emission wavelength band and a light emission peak wavelength whose temperature fluctuation is reduced, and infrared laser is preferable. In particular, the light source 122d is preferably a VCSEL that has a narrow light emission wavelength band and a light emission peak wavelength whose temperature fluctuation is reduced. Though not described in
The light source 122d emits pulse light in synchronization with the ToF sensor 153d. Light emission intensity and/or a pulse width (half width of a light emission time) may be variable. Here, the pulse width of the pulse light is about 1 nsec to several hundreds nsec. Peak power of the pulse light is several N to several hundreds W.
The optical radar apparatus 103 acquires data of 30 frames every second, and when pixel resolution of each of the frames is 0.5 degrees and the horizontal radiation angle θh is 90 degrees, 180 pieces of fan-shaped pulse light 124d-1 to fan-shaped pulse light 124d-180 whose travelling angles in the horizontal direction are different are radiated in one frame, for example. A time allocated to radiation of fan-shaped pulse light 124d-K is 1/5400 second, and in this time, an angle of a reflection plane of the one-dimensional scanning device 131d is changed to a setting value and pulse light is emitted from the light source 122d. In a case where a pulse light emission frequency is 190 kHz, each fan-shaped pulse light 124d-K radiates almost 35 (=190,000/30/180) pulses to the object 11.
(ToF sensor 153d)
There is no difference from Embodiment 1 in that a light receiving unit 154d of the ToF sensor 153d has pixels Pxd (i, j) arranged in a two-dimensional matrix of M rows and N columns as illustrated in
As a circuit by which the pixel Pxd (i, K) of the column K corresponding to the fan-shaped pulse light 124d-K is selected, a column selection circuit 161d is provided in the light receiving unit 154d. Further, a column selection line Cd (j) that transmits a signal of the column selection circuit 161d to each of the pixels Pxd (i, j) is provided. The column selection line Cd (j) is not limited to a single signal line and may be a plurality of signal lines that are different in polarity and/or voltage. In synchronization with an operation of the one-dimensional scanning device 131d of the fan-shaped light radiation system 123d, the column selection circuit 161d selects the column K to be activated. A signal for synchronization is generated from the control unit 160d. The column selection circuit 161d may connect only an output of each of the pixels Pxd (i, K) (i=1 to M) to a signal line Lxd (i) or supply a power source only to each of the pixels Pxd (i, K) (i=1 to M), or may perform both of them.
The signal storage processing unit 155d has at least one pixel storage element Mxd (i) corresponding to each row i and the pixel storage element Mxd (i) is connected by the respective pixels Pxd (i, j) and the signal line Lxd (i). The pixel storage element Mxd (j) receives, through the signal line Lxd (i), an electric signal output by the pixel Pxd (i, K) upon reception of light and stores a signal amount in time sequence. The signal storage processing unit 155d further has a buffer memory Bxd (i), a row signal line Rd (i), and a signal processing circuit DSd. Data accumulated in the pixel storage element Mxd (i) is copied to the buffer memory Bxd (i) through the row signal line Rd (i) at a defined timing. The signal processing circuit DSd calculates and outputs at least distance information D (i, K), two-dimensional image information G1 (i, K), and two-dimensional image information G2 (i, K) on the basis of information of the buffer memory Bxd (i). The signal storage processing unit 155d may have a memory selection circuit 163d and a memory selection line Rmd (α) that are used to select a part of the pixel storage element Mxd (i).
As described above, though the rows and the columns are reversed in arrangement, the ToF sensor 153d has a similar configuration to that of the ToF sensor 153 and basically the same technique is applicable thereto.
(Explanation of effect)
There are many curved surfaces, such as a curbstone and a guardrail, which horizontally extend on a road. Moreover, a curved surface that is continuous in a horizontal direction exists in a vehicle body of an automobile or bicycle. As a model of the curved surfaces that extend in the horizontal direction, a column 220 of
As described in Embodiment 4, the light receiving system 140d is used to reduce the reflection light 231R from the sun at the high altitude with respect to the object 11 (refer to
Note that, in rainy weather, the reflection light 231R by the sunlight 231 does not need to be suppressed, so that the light receiving system 140e is also able to be used to suppress reflection of the pulse light 212d due to raindrops.
The present configuration has an advantage that the reflection right 231R that causes an interfering factor is able to be suppressed regardless of fine weather or rainy weather and a distance is able to be measured without lowering accuracy.
The polarizing device 180 is able to be constituted by, for example, a polarizer through which light that is linearly polarized in one direction is transmitted and a rotation mechanism that mechanically rotates the polarizer. Alternatively, the polarizing device 180 may be a combination of a polarizer and a device that change the polarization direction by 90 degrees by applying a voltage like a liquid crystal polarization rotator, for example. Note that, the polarizing device 180 is placed in front of the imaging optical system 151 in
There is an advantage that, by using such a polarizing device 180 capable of controlling the polarization direction of the light to be transmitted, the pulse light polarized in the horizontal direction is radiated and the polarization direction of the reflection light received by the ToF sensor 153d is controlled in accordance with a season, a time zone, and/or weather, so that the background light that causes an interfering factor is suppressed and a distance is able to be measured without lowering accuracy.
It should be understood that embodiments and examples disclosed herein are illustrative and non-restrictive in every respect. The scope of the invention is defined by the scope of the claims, rather than the description above, and is intended to include meaning equivalent to the scope of claims and all modification falling in the scope.
An optical radar apparatus according to an aspect 1 of the invention includes: a light source that emits pulse light; a scanning device (one-dimensional scanning device 131) that performs scanning in one direction with the pulse light; a beam generator (fan-shaped beam generator 132) that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor (ToF sensor 153) that uses reflection light from an object illuminated with illumination light (fan-shaped pulse light 124) obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing filter that is arranged in a light path extending from the object to a light receiving unit of the sensor and allows transmission of light polarized in the direction vertical to the direction of the scanning.
According to the aforementioned configuration, linearly polarized illumination light is able to be efficiently radiated to the object in a wide range without losing a polarized state of the light source, and by receiving light polarized in the same direction as that of the illumination light, an SN ratio for background light is able to be improved. In particular, background light which is very powerful and has a high degree of polarization and which is generated when a light source of the powerful background light such as sunlight, the object, and the optical radar apparatus have a specific positional relationship is able to be suppressed.
The optical radar apparatus according to an aspect 2 of the invention further includes a sub sensor (ToF sensor 153b) that is different from the sensor; and a sub polarizing filter (polarizing filter 150b) that is arranged in a light path extending from the object to a light receiving unit of the sub sensor and allows transmission of light polarized in a direction parallel to the direction of the scanning, in the aspect 1.
According to the aforementioned configuration, by properly using any of the sensor and the sub sensor in accordance with an environmental circumstance such as a time zone or weather, the SN ratio for the background light is able to be improved in a wider environment.
An optical radar apparatus according to an aspect 3 of the invention includes: a light source that emits pulse light; a scanning device (one-dimensional scanning device 131) that performs scanning in one direction with the pulse light; a beam generator (fan-shaped beam generator 132) that radiates the pulse light so as to be spread in a plane vertical to the direction of the scanning; a sensor (ToF sensor 153) that uses reflection light from an object illuminated with illumination light (fan-shaped pulse light 124) obtained by the scanning and the radiation and polarized in a direction vertical to the direction of the scanning and that measures a distance to the object; and a polarizing device that is arranged in a light path extending from the object to a light receiving unit of the sensor and is able to control a polarization direction of light to be transmitted.
According to the aforementioned configuration, the linearly polarized illumination light is able to be efficiently radiated to the object in a wide range without losing a polarized state of the light source, and by selecting a polarization direction of light to be received, the SN ratio for the background light is able to be improved.
In the optical radar apparatus according to an aspect 4 of the invention, the polarization direction of the polarizing device is controlled in accordance with at least one of a season when the optical radar apparatus is used, a time when the optical radar apparatus is used, and weather around the optical radar apparatus, in the aspect 3.
According to the aforementioned configuration, an effect of improvement of the SN ratio is able to be improved in a wider environment.
In the optical radar apparatus according to an aspect 5 of the invention, the pulse light is an infrared ray in any of the aspects 1 to 4.
According to the aforementioned configuration, there is an effect of enabling reduction of an effect on a person and also reduction of an effect of the background light.
In the optical radar apparatus according to an aspect 6 of the invention, the light source includes a semiconductor laser chip that emits polarized light in any of the aspects 1 to 5.
According to the aforementioned configuration, the semiconductor laser chip radiates the linearly polarized light highly efficiently. Thus, the linearly polarized illumination light is able to be radiated highly efficiently without loss of energy for the polarization and the SN ratio for the background light is able to be improved.
In the optical radar apparatus according to an aspect 7 of the invention, the pulse light is used for the scanning by the scanning device and then used for the radiation by the beam generator in any of the aspects 1 to 6.
According to the aforementioned configuration, reduction of polarizability is able to be suppressed to minimum in a process of the reflection or the radiation by the scanning. Accordingly, the linearly polarized illumination light is able to be radiated highly efficiently and the SN ratio for background light is able to be improved.
In the optical radar apparatus according to an aspect 8 of the invention, the direction of the scanning is a vertical direction in any of the aspects 1 to 7.
According to the aforementioned configuration, in an optical radar apparatus used on land and mounted in an automobile or the like, illumination light spread in a horizontal direction is illuminated to the object and scanning is performed in a vertical direction, so that an effect of detecting the object in an initial stage of the scanning is able to be added.
In the optical radar apparatus according to an aspect 9 of the invention, the direction of the scanning is a horizontal direction in any of the aspects 1 to 7.
In an optical radar apparatus used on land, a radiation region in a vertical direction is narrower than a radiation region in a horizontal direction. According to the aforementioned configuration, a radiation range of the illumination light is narrow and light radiation intensity per unit area is able to be further increased, thus making it possible to achieve an additional effect of enabling measurement to a farther distance.
In the optical radar apparatus according to an aspect 10 of the invention, the beam generator is a Powell lens in any of the aspects 1 to 9.
According to the aforementioned configuration, spot light is able to be spread in a fan shape with a small number of components, thus achieving an effect of enabling size reduction of the optical radar apparatus.
In the optical radar apparatus according to an aspect 11 of the invention, the scanning device is an MEMS mirror in any of the aspects 1 to 10.
According to the aforementioned configuration, the scanning is able to be achieved with a small component, thus achieving an effect of enabling size reduction of the optical radar apparatus.
The invention is not limited to each of the embodiments described above, and may be modified in various manners within the scope indicated in the claims and as embodiment achieved by appropriately combining technical means disclosed in different embodiments is also encompassed in the technical scope of the invention. Further, by combining the technical means disclosed in each of the embodiments, a new technical feature may be formed.
| Number | Date | Country | Kind |
|---|---|---|---|
| JP2017-108757 | May 2017 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2018/015940 | 4/18/2018 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/221049 | 12/6/2018 | WO | A |
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| 20110050885 | McEldowney | Mar 2011 | A1 |
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| 20170166165 | Schindler et al. | Jun 2017 | A1 |
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| Number | Date | Country | |
|---|---|---|---|
| 20210124030 A1 | Apr 2021 | US |
