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Optical distance measuring apparatus

A technology of optical distance measurement and distance, which is applied in the direction of measuring devices, radio wave measurement systems, instruments, etc., and can solve the problems of reduced measurement accuracy

Pending Publication Date: 2020-11-13
DENSO CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Based on this knowledge, the inventors of the present application have found that if the distance to the object is calculated using the peak generation time, the calculation result of the distance will fluctuate with the fluctuation of the incident light intensity, and the measurement accuracy will decrease. subject

Method used

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no. 1 approach

[0026] Such as figure 1 As shown, the optical distance measuring device 10 as the first embodiment in the present disclosure includes a light source 20 , a light receiving element array 30 , an adding unit 40 , a histogram generating unit 50 , a peak detecting unit 60 , and a distance calculating unit 70 . Among them, the adding unit 40 , the histogram generating unit 50 , the peak detecting unit 60 , and the distance calculating unit 70 may be configured by circuits, or may be realized by software by executing a program by a CPU (not shown). The optical distance measuring device 10 is mounted on, for example, a vehicle, and is used for detection of obstacles and driving assistance of the vehicle.

[0027] The light source 20 is a device that irradiates light to the object OB that is the distance measurement target. In the present embodiment, the light source 20 includes a laser diode element 21 . The laser diode element 21 emits pulsed laser light having a pulse width of th...

no. 2 approach

[0037] In the above embodiment, if image 3 as well as Figure 4 As shown, an example of a peak shape appearing in the histogram is explained. However, if Figure 5 As shown, there are cases where multiple peak shapes appear in the histogram due to the influence of disturbing light or the like. Therefore, in the second embodiment, the peak detection unit 60 detects a plurality of peak shapes based on the histogram generated by the histogram generation unit 50 , and detects the end point tpk of the peak shape based on each of these peak shapes. Then, the distance calculation unit 70 calculates the distance to the object OB using the end point of the peak shape whose width, that is, the number of levels contained in the peak shape is larger than the other peak shapes, among the plurality of peak shapes. For example, the distance calculation unit 70 may calculate the distance to the object OB using the end point of the peak shape having the largest width among the plurality of...

no. 3 approach

[0039] In the above-described embodiment, the peak detection unit 60 detects the peak shape by comparing a predetermined threshold with the frequency of the histogram. In contrast, in the third embodiment, the peak detection unit 60 detects the peak shape by comparing the shape of the histogram with a predetermined shape. Specifically, as Figure 6 As shown, the peak detection unit 60 stores predetermined template data showing a typical peak shape in the memory in advance, and uses the template data to detect a portion similar to the template data in the histogram through a known template matching method, and converts the template data Partially judged to be peak shape. Thereby, it is possible to suppress the calculation of the distance based on the peak value generated due to the influence of disturbance light or the like.

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Abstract

Provided is an optical distance measuring apparatus (10) comprising: a light source (20) that irradiates an object with light of a first pulse width; a light receiving element (31) that outputs a pulse signal of a second pulse width which indicates that light reflected from the object is incident and which has a width equal to or greater than the first pulse width; a histogram generating unit (50)that records a frequency corresponding to the number of pulse signals outputted from the light receiving element at predetermined time intervals to generate a histogram; a peak detection unit (60) that detects the end of the peak shape from the histogram; and a distance calculation unit (70) that calculates the distance to the object by using a timing obtained by subtracting the time corresponding to the second pulse width from the time corresponding to the end of the peak shape.

Description

[0001] Cross References to Related Applications [0002] This application claims the priority of Japanese Application No. 2018-72108 filed on April 4, 2018, the entire contents of which are incorporated herein. technical field [0003] The present disclosure relates to optical distance measuring devices. Background technique [0004] The optical distance measuring device described in Patent Document 1 adds the pulse signals output from the SPAD (Single Photon Avalanche Diode) array according to the incidence of reflected light from the object in the adder, and adds the pulse signal at each predetermined time The added value is recorded at intervals to generate a histogram. Then, a peak that is the maximum value of the frequency is detected from the histogram, and the distance to the object is calculated using the time at which the peak occurs. [0005] Patent Document 1: Japanese Patent Laid-Open No. 2016-176750; [0006] Patent Document 2: Japanese Patent No. 5644294. ...

Claims

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Application Information

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IPC IPC(8): G01S17/14G01S7/4865G01S7/4863G01S7/4861G01S17/10G01S17/931
CPCG01S17/10G01S7/4865G01S7/4866G01S17/931
Inventor 立野善英高井勇
Owner DENSO CORP
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