车载激光雷达的主要技术分支及发展趋势
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摘要
车载激光雷达系统被喻为自动驾驶车辆的"眼睛",是实现自动驾驶车辆环境感知的关键传感器。本文对近年来车载激光雷达的主要技术分支进行了梳理,并对各技术分支下具有代表性的专利申请技术方案进行介绍,最后对车载激光雷达技术的发展趋势进行了总结。
Vehicle LiDAR system has been hailed as the "eyes" of autonomous vehicle, and is the key sensor for realizing environmental perception of the autonomous vehicle. This paper analysed the main technical branches of the vehicle LiDAR system, and introduced the representative patent applications of each branch. Finally, this paper summarized the development trend of vehicle LiDAR technology.
Vehicle LiDAR system has been hailed as the "eyes" of autonomous vehicle, and is the key sensor for realizing environmental perception of the autonomous vehicle. This paper analysed the main technical branches of the vehicle LiDAR system, and introduced the representative patent applications of each branch. Finally, this paper summarized the development trend of vehicle LiDAR technology.
引文
[1]徐祖舰等编著,机载激光雷达测量技术及工程应用实践[M],武汉:武汉大学出版社,2009:1-7;
[2]戴永江编著,激光雷达原理[M],北京:国防大学出版社,2002:1-6;
[3]陈慧岩等编著,无人驾驶汽车概论[M],北京理工大学出版社,2014:11-13;
[4]SAE-J3016:Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles, SAE, 2018;
[5]HALL DAVID S. High definition lidar system. Int Cl:G01T 1/166 WO2008008970 A2, 2008-01-17;
[6]PACALA ANGUS, YU TIANYUE. Cost-effective lidar sensor for multi-signal detection, weak signal detection and signal disambiguation and method of using same. Int Cl:G01S 17/06 US2014211194 A1, 2014-07-31;
[7]李家盛,向少卿.一种激光雷达.IntCl:G01S17/02CN108761471 A, 2018-11-06;
[8]邱纯鑫,刘乐天.一种多线激光雷达系统. Int Cl:G01S7/481 CN108957424 A, 2018-12-07;
[9]YEUN YONG HYUN. Omnidirectional LiDAR apparatus.Int Cl:F21V8/00 KR20160113794 A, 2016-10-04;
[10]KEILAF OMER DAVID, DAY AMIR. LiDAR systems and method. Int Cl:G01S 17/93 WO2018055449 A2,2018-03-29;
[11]郭晓波,张薏.一种基于微机电系统的广域激光雷达系统. Int Cl:G01S 17/93 CN108710138 A, 2018-10-26;
[12]ELDADA LOUAY, YU TIANYUE. Optical phased array LiDAR system and method of using same. Int Cl:G01S17/02US2016161600A1,2016-06-09;US2018224547 A1
[14]闫爱民,石旺舟,胡志娟.一种相控阵激光扫描旁瓣抑制装置. Int Cl:G01S 7/491 CN102866394 A, 2013-01-09;
[15]CROUCH, STEPHEN C, REIBEL RANDY R. Methodand system for doppler detection and doppler correction of optical phase-encoded range detection. Int Cl:G01S 17/32US2017343653 A1, 2018-08-09;
[16]田义,李奇,李凡,李艳红.闪光式激光雷达回波信号物理图像模拟系统和方法. Int Cl:G01S17/89 CN108387907A, 2018-08-10;
[17]D. Pierrottet, F. Amzajerdian, L. Petway, B. Barnes, G.Lockard, and M. Rubio,“Linear FMCW laser radar for precision range and vector velocity measurements,” in Proc. Mater. Res. Soc. Symp., vol. 1076. Feb. 2008, p.K04-06;
[18]MALEKILUTFOLLAH,MATSKOANDREY B.CompactLIDARSystem.IntCl:G01S17/32US2016299228 A1, 2016-10-13;
[19]EFIMOV OLEG M. Dual frequency FMCW liDAR and method. Int Cl:G01S17/02US2018210068 A1, 2018-07-26.
[2]戴永江编著,激光雷达原理[M],北京:国防大学出版社,2002:1-6;
[3]陈慧岩等编著,无人驾驶汽车概论[M],北京理工大学出版社,2014:11-13;
[4]SAE-J3016:Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles, SAE, 2018;
[5]HALL DAVID S. High definition lidar system. Int Cl:G01T 1/166 WO2008008970 A2, 2008-01-17;
[6]PACALA ANGUS, YU TIANYUE. Cost-effective lidar sensor for multi-signal detection, weak signal detection and signal disambiguation and method of using same. Int Cl:G01S 17/06 US2014211194 A1, 2014-07-31;
[7]李家盛,向少卿.一种激光雷达.IntCl:G01S17/02CN108761471 A, 2018-11-06;
[8]邱纯鑫,刘乐天.一种多线激光雷达系统. Int Cl:G01S7/481 CN108957424 A, 2018-12-07;
[9]YEUN YONG HYUN. Omnidirectional LiDAR apparatus.Int Cl:F21V8/00 KR20160113794 A, 2016-10-04;
[10]KEILAF OMER DAVID, DAY AMIR. LiDAR systems and method. Int Cl:G01S 17/93 WO2018055449 A2,2018-03-29;
[11]郭晓波,张薏.一种基于微机电系统的广域激光雷达系统. Int Cl:G01S 17/93 CN108710138 A, 2018-10-26;
[12]ELDADA LOUAY, YU TIANYUE. Optical phased array LiDAR system and method of using same. Int Cl:G01S17/02US2016161600A1,2016-06-09;US2018224547 A1
[14]闫爱民,石旺舟,胡志娟.一种相控阵激光扫描旁瓣抑制装置. Int Cl:G01S 7/491 CN102866394 A, 2013-01-09;
[15]CROUCH, STEPHEN C, REIBEL RANDY R. Methodand system for doppler detection and doppler correction of optical phase-encoded range detection. Int Cl:G01S 17/32US2017343653 A1, 2018-08-09;
[16]田义,李奇,李凡,李艳红.闪光式激光雷达回波信号物理图像模拟系统和方法. Int Cl:G01S17/89 CN108387907A, 2018-08-10;
[17]D. Pierrottet, F. Amzajerdian, L. Petway, B. Barnes, G.Lockard, and M. Rubio,“Linear FMCW laser radar for precision range and vector velocity measurements,” in Proc. Mater. Res. Soc. Symp., vol. 1076. Feb. 2008, p.K04-06;
[18]MALEKILUTFOLLAH,MATSKOANDREY B.CompactLIDARSystem.IntCl:G01S17/32US2016299228 A1, 2016-10-13;
[19]EFIMOV OLEG M. Dual frequency FMCW liDAR and method. Int Cl:G01S17/02US2018210068 A1, 2018-07-26.