Lidar system for providing safe driving information by extracting and comparing lidar pulse signal automatically generated by individual autonomous vehicle and operating method thereof

Abstract

The present invention relates to a LIDAR system for providing safe driving information by extracting and comparing a LIDAR pulse signal automatically generated by an individual autonomous vehicle and an operating method thereof, the system and method: enabling a vehicle having a LIDAR device to be safely driven by accurately recognizing the positions of various surrounding obstacles in three dimensions without interference from the LIDAR signals output from a counterpart vehicle; rapidly analyzing the interference caused by the LIDAR signals received from the counterpart vehicle and enabling prompt response to unexpected situations and high-speed driving through short processing time; and lowering manufacturing, production, and maintenance costs.

Description

A lidar system and its operation method for providing safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

[0001] The present invention relates to a lidar system that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles, and a method for operating the same. More specifically, the present invention relates to a lidar system that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles, which enables a vehicle equipped with a lidar device to accurately recognize the locations of various obstacles in the vicinity in three dimensions without being influenced (interfered) by lidar signals output from other vehicles, thereby enabling safe driving.

[0002] In addition, the present invention relates to a lidar system and its operating method for providing safe driving information by detecting and comparing individual automatically generated pulse signals of an autonomous vehicle, which periodically and quickly analyzes and distinguishes interference by lidar pulse signals received from an opposing vehicle, and when an emergency occurs, applies an independent individual comparison system in contrast to the opposing vehicle to process the signal in a short time, enabling rapid response and safe high-speed driving, and which has a relatively simple configuration of the system, thereby reducing manufacturing and maintenance costs and increasing preference.

[0003] LiDAR transmits a pulsed laser signal to a target (object) and measures and detects the distance to the target by calculating the time it takes for the laser signal to reflect off the target and return, and synthesizes the distance information measured in points into a surface unit, so it measures in three dimensions. This measurement data is converted into image data and displayed on the corresponding display unit, thereby generating three-dimensional image map data of the direction that the LiDAR device is looking at from the current location.

[0004] LASER (Light Amplification by the Stimulated Emission of Radiation) generates stimulated emission of light, amplifies it, and outputs a laser light signal.

[0005] 3D image map data measured and detected using LiDAR technology is used to construct topographic data for Geographic Information Systems (GIS). This data is then visualized and applied to construction, defense, and various transportation sectors. LiDAR technology is gaining attention as a key technology for applications in autonomous vehicles, mobile robots, and drones.

[0006] When installing a LiDAR device on a vehicle and using the 3D image map data generated by the LiDAR device for driving information, the 3D image map data must be updated at regular intervals.

[0007] In the case of autonomous vehicles, the processing speed and accuracy of the means for updating the 3D image map data detected and generated by the LiDAR device directly affect the driving performance of the autonomous vehicle.

[0008] When lidar technology is applied to automobiles, it measures the distance between vehicles in real time to avoid collisions with the vehicle ahead while driving or to minimize collisions and impacts with obstacles located in front, and performs warnings or automatic vehicle control. A vehicle that performs automatic control is called an autonomous vehicle.

[0009] When multiple autonomous vehicles use the same lidar device, the lidar signals emitted from the autonomous vehicles driving on the opposite side will cause mutual interference, resulting in errors in the distance measurement of the receiver. This can cause serious problems in safe driving when vehicles cross paths while driving, and can also lead to unexpected safety accidents in intersections and parking lots. Therefore, the development of technology to improve these problems is urgent.

[0010] A prior art technology that has improved some of these problems and needs is the ‘LiDAR device that can prevent interference between vehicles’, registered in the Republic of Korea as a patent No. 10-2050598 (November 25, 2019).

[0011] Figure 1 is a functional configuration diagram of a lidar system for providing autonomous vehicle safety driving information according to an embodiment of the prior art.

[0012] Hereinafter, referring to the attached drawings, the prior art will be described in detail. The present invention is a configuration including a transmitter (100), a receiver (200), and a processing unit (300).

[0013] The transmitter (100) receives a coded pulse wave signal, which is generated differently for each vehicle by including corresponding information in the code generation module (310) of the processing unit (300) and converted into code pulse information by the coding module (320), and is formed by including a laser output diode (110) that converts the signal into a laser light signal of the lidar and outputs it; and a collimating lens (120) that is formed of an optical lens and collects the optical signal of the coded pulse wave laser output by the laser output diode (110) of the lidar and outputs it to the target (A).

[0014] The receiving unit (200) includes a focusing lens (210) that focuses and inputs the LIDAR optical signal of the coded pulse wave laser output by the transmitting unit (100) and reflected from the target object (A); a laser receiving sensor (220) that converts the LIDAR optical signal of the coded pulse wave laser input by the focusing lens (210) into an electrical signal; and a laser receiving sensor (220) that amplifies and processes the coded pulse wave laser signal recognized by the laser receiving sensor (220) and applies the amplified and processed signal to the processing unit (300).

[0015] The processing unit (300) extracts a coded pulse wave signal by the sampler (330) and applies it to the correlation analysis module (340). If it is determined that the coded pulse wave signal extracted by the correlation analysis module (340) and the coded pulse wave signal generated and output by the code generation module (310) are the same, the processing unit (300) applies it to the distance calculation module (350) to calculate the distance to the target object (A).

[0016] The prior art generates a coded pulse wave signal that is distinct for each autonomous vehicle and includes individual information, outputs it as a laser signal of the lidar, and calculates the distance to the target object if the information contained in the coded pulse wave signal extracted from the received laser signal of the lidar is the same as the output information, so it has the advantage of not being influenced by the lidar signal output by other autonomous vehicles.

[0017] However, in the prior art, the unique corresponding information of each autonomous vehicle is input into the processing unit (300), converted into pulse code, and output, and the signal of each autonomous vehicle received is analyzed to determine whether it is the same as the output unique information. In the process, the amount of data to be processed increases, and the processing time becomes longer due to the large amount of data, so the configuration of the processing unit (300) becomes complex, and there is a problem that the response time of the autonomous vehicle is limited due to the time consumed for data processing.

[0018] In addition, the conventional technology has a complex processing unit configuration, which increases the manufacturing cost of the lidar function unit, lengthens the production time, requires high maintenance costs, and has a long signal processing time, making it difficult for autonomous vehicles to respond quickly to unexpected situations and drive at high speeds.

[0019] Therefore, it is necessary to develop a technology that can quickly process interference in the lidar function of an autonomous vehicle's lidar signal with that of another vehicle to prevent interference with other vehicle signals, reduce signal processing time, enable rapid response to emergencies (emergency situations), enable high-speed driving, and simplify manufacturing, production, and maintenance.

[0020] [Prior Art Literature]

[0021] [Patent Document]

[0022] Republic of Korea Patent Registration No. 10-2050598 (November 25, 2019) 'Lidar device capable of preventing interference between vehicles'

[0023] Republic of Korea Patent Publication No. 10-2023-0093356 (June 27, 2023) 'Multi-wavelength LiDAR Design'

[0024] In order to solve the problems and needs of the above-mentioned conventional technology, the purpose of the present invention is to provide a lidar system and an operating method thereof that provides safe driving information by detecting and comparing lidar pulse signals automatically generated individually for autonomous vehicles, so that the lidar system of an autonomous vehicle can accurately recognize the locations of various obstacles in the surroundings in three dimensions without being influenced (interfered) by lidar signals output from an opposing vehicle, thereby enabling safe driving.

[0025] In addition, the purpose of the present invention is to provide a lidar system and an operating method thereof that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of an autonomous vehicle, which quickly analyzes interference caused by a lidar pulse signal of an opposing vehicle received by a lidar system of an autonomous vehicle, enables rapid response to an emergency and high-speed driving by a short processing time, and reduces manufacturing, production, and maintenance costs.

[0026] In order to achieve the above purpose, the present invention provides a lidar system for providing safe driving information by detecting and comparing individual, automatically generated lidar pulse signals of autonomous vehicles, comprising: a frame housing (970) having a box shape and in which each functional unit constituting the lidar system (900) for providing safe driving information by detecting and comparing individual, automatically generated lidar pulse signals of autonomous vehicles is fixedly installed; a system central control unit (1000) fixedly installed in the frame housing (970) and connected to each functional unit constituting the lidar system, and outputting corresponding control signals according to programs and parameters downloaded, installed, and operated, and variably controlling the transmitted lidar pulse signals; a lidar signal generation unit (2000) fixedly installed in the frame housing (970) and generating a pulse signal of a specified duty cycle according to the corresponding control signal of the system central control unit (1000), generating a specified lidar signal by voltage control, and outputting a first lidar pulse signal that is synthesized and modulated; It may include a 3D lidar scan unit (3000) that is fixedly installed in the above frame housing (970) and converts the lidar pulse signal applied from the lidar signal generation unit (2000) into a lidar light signal by the corresponding control signal of the system central control unit (1000), adjusts the scan range to a 3D, selected arbitrary area, and outputs the signal to the target (950).

[0027] It may include a lidar photoelectric conversion unit (4000) that is fixedly installed on the frame housing (970) and collects and inputs a lidar optical signal reflected from the object (950) and outputs a second cycle lidar pulse signal converted into an electrical signal; and a lidar time of flight detection unit (5000) that is fixedly installed on the frame housing (970) and receives signals from the lidar signal generation unit (2000) and the lidar photoelectric conversion unit (4000) respectively by a corresponding control signal of the system central control unit (1000) and calculates and outputs an input time difference value.

[0028] It may further include a transmission optical bandpass filter unit (6000) that is fixedly installed on the frame housing (970) and inputs a lidar optical signal of the 3D lidar scan unit (3000) and outputs it by blocking a noisy lidar optical signal; and a reception optical bandpass filter unit (7000) that is fixedly installed on the frame housing (970) and inputs a lidar optical signal that is reflected by an object (950) from the lidar optical signal output from the transmission optical bandpass filter unit (6000) and returns it, but blocks a noisy lidar optical signal.

[0029] The system may further include a transceiver lidar period detection unit (8000) that is fixedly installed in the frame housing (970) and detects the level value and the period value of the first cycle of the lidar output from the lidar signal generation unit (2000) and the level value and the period value of the second cycle of the lidar output from the lidar photoelectric conversion unit (4000), and applies the detected values ​​to the system central control unit (1000) and the lidar flight time detection unit (5000), respectively.

[0030] The above system central control unit (1000) receives the period value of the first cycle output from the lidar signal generation unit (2000) and the period value of the second cycle output from the lidar photoelectric conversion unit (4000), and if it is determined that the period values ​​are not the same, the second cycle output from the lidar photoelectric conversion unit (4000) can be deleted.

[0031] The level value of the first cycle output from the lidar signal generation unit (2000) and the level value of the second cycle output from the lidar photoelectric conversion unit (4000) are input respectively, and the level value of the first cycle is calculated as the flight time value calculated from the lidar flight time detection unit (5000) and the corresponding level value after flight is calculated, and when the level value of the second cycle is determined to be a value greater than the level value within the allowed error range, the lidar signal generation unit (2000) is controlled to control the cycle of the lidar signal to be increased or decreased within a predetermined range.

[0032] The above lidar signal generation unit (2000) may include a pulse signal generation unit (2010) that generates a pulse signal with a duty cycle of 40 to 60% in response to a corresponding control signal of the system central control unit (1000); a voltage control oscillation unit (2020) that generates a lidar pulse signal with a wavelength of 905 to 1500 nanometers in response to a corresponding control signal of the system central control unit (1000); and a modulation unit (2030) that synthesizes and modulates signals respectively applied from the pulse signal generation unit (2010) and the voltage control oscillation unit (2020) in response to a corresponding control signal of the system central control unit (1000) to output a lidar pulse signal of a first cycle.

[0033] The above pulse signal generation unit (2010) may be configured to generate a pulse signal with a duty cycle of 50% by a corresponding control signal of the system central control unit (1000).

[0034] The above 3D lidar scanning unit (3000) may include a lidar generation unit (3010) that inputs a lidar pulse signal applied from the lidar signal generation unit (2000) and converts it into a lidar optical signal to generate the lidar signal; a lidar scanner unit (3020) that scans the lidar optical signal applied from the lidar generation unit (3010) along the first axis and the second axis in accordance with a corresponding control signal of the system central control unit (1000); and a first condensing lens unit (3030) that condenses and outputs the lidar optical signal output from the lidar scanner unit (3020).

[0035] The above-mentioned lidar photoelectric conversion unit (4000) may include a second condensing lens unit (4010) that collects and inputs a lidar optical signal reflected from the object (950); and a lidar photoelectric conversion unit (4020) that receives a lidar optical signal from the second condensing lens unit (4010) and converts and outputs an electric lidar pulse signal.

[0036] The above-described lidar period detection unit (8000) may include a first period detection unit (8010) that detects the level value and period value of the lidar pulse signal output from the lidar signal generation unit (2000) and applies them to the system central control unit (1000) and the lidar time of flight detection unit (5000), respectively; and a second period detection unit (8020) that detects the level value and period value of the lidar pulse signal output from the lidar photoelectric conversion unit (4000) and applies them to the system central control unit (1000) and the lidar time of flight detection unit (5000), respectively.

[0037] The above lidar scanner unit (3020) may include a first lidar scanner unit (3022) that linearly scans the lidar optical signal applied from the lidar generator unit (3010) in a first axis direction; and a second lidar scanner unit (3024) that linearly scans the lidar optical signal applied from the first lidar scanner unit (3022) in a second axis direction.

[0038] The system central control unit (1000) can be configured to variably control the period value of the transmitted lidar pulse signal to a period value with a wavelength value greater than 10 nanometers, but to control it in steps upward within a set wavelength range.

[0039] The system central control unit (1000) can be configured to variably control the period value of the transmitted lidar pulse signal to a period (wavelength) value greater than the wavelength value of 10 nanometers, but to control it by gradually lowering it within a set wavelength range.

[0040] The above-mentioned transmission bandpass filter unit (6000) and reception bandpass filter unit (7000) are spray-coated with a filter protection coating solution that blocks the penetration of dust and moisture and inhibits the attachment of foreign substances and bacteria on one side facing the object (950), and the filter protection coating solution can be manufactured by mixing 15 parts by weight of dodecyldimethylbenzylammonium chloride, 15 parts by weight of sulfobetaine chitosan, 10 parts by weight of pyromellitic anhydride, 10 parts by weight of polytetrafluoroethylene, 5 parts by weight of polyphosphate salts, 5 parts by weight of vanadium oxide (V2O5), and 5 parts by weight of titanium dioxide having an average diameter of 100 micrometers for 100 parts by weight of transparent PET.

[0041] The above frame housing (970) is spray-coated with a housing surface coating agent for waterproofing, contamination prevention, and durability, and the housing surface coating agent can be manufactured by mixing 5 parts by weight of mica powder, 10 parts by weight of methylsulfonic methane, 3.5 parts by weight of sodium borohydride, 15 parts by weight of polytetrafluoroethylene, 10 parts by weight of urea, 10 parts by weight of phosphite, 5 parts by weight of gluconate, and 10 parts by weight of sodium bicarbonate with respect to 100 parts by weight of transparent polypropylene resin.

[0042] The above frame housing (970) may further include one or more shock-blocking support members (8120) on the lower surface to cushion and protect from external vibration and impact, and the shock-blocking support members (8120) may include a fitting guide (8122) having a trapezoidal shape fixed to the lower surface of the frame housing (970) and having both lower ends protruding, a fixed plate body (8124) that is laterally fitted to be caught on the lower protrusion of the fitting guide (8122) and has a space therein and is supported on the bottom surface, and an elastic body (8126) that is interposed in the inner space of the fixed plate body (8124) and has one end caught on the lower surface of the fitting guide (8122) and the other end caught on the upper surface of the fixed plate body (8124).

[0043] In order to achieve the above purpose, the method of operating a lidar system for providing safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles may include a preparatory process for determining whether a command signal for system operation is input by a system central control unit; a lidar signal output process for generating and outputting a first cycle of lidar pulse signals for detecting the position of an object and outputting them in a three-dimensional area when it is determined in the preparatory process that a command signal for system operation is input; and a target three-dimensional image process for converting the lidar pulse signals output in the lidar signal output process and reflected from the object into a three-dimensional image corresponding to the received lidar pulse signals.

[0044] The method may further include a process for extracting a transmission / reception cycle level value, in which the outputted lidar pulse signal is input as a lidar pulse signal reflected from an object and designated as a second cycle, and extracts the level value and the cycle value of the first cycle and the second cycle, respectively; a process for removing a noise signal, in which the cycle value of each lidar pulse signal extracted in the transmission / reception cycle level value extraction process is compared, and if the first cycle value is not the same as the first cycle value, the signal corresponding to the second cycle is deleted and processed, and the process for proceeding to the object 3D image process may be performed.

[0045] The method may further include: a reception signal level calculation process for calculating a distance value to an object by calculating a time value output from a first period of the noise signal cancellation process and a time value input from a second period, and calculating a reception signal level value that attenuates the level value of the first period in response to the calculated distance value; and a reception signal level judgment process for determining whether the level value of the second period received and calculated in the reception signal level calculation process is a value greater than or less than the calculated reception signal level value, and proceeding to the object 3D image process if it is determined to be a smaller level value.

[0046] In the above-described reception signal level judgment process, if the level value of the second cycle received is judged to be a large value, a cycle value change process for controlling the cycle value of the first cycle and feeding it back to the lidar signal output process may be further included.

[0047] If it is determined that a signal that is repeatedly operated is input in the above-mentioned 3D image process of the target object, a repeat judgment process that feeds back the signal to the above-mentioned lidar signal output process may be further included.

[0048] The present invention, having the above configuration, has the advantage of enabling safe driving by accurately recognizing the locations of various obstacles in the surroundings in three dimensions without being influenced (interfered) by a lidar signal output from an opposing vehicle through the lidar system of the autonomous vehicle.

[0049] In addition, the present invention has the advantage of enabling a lidar system of an autonomous vehicle to quickly analyze interference caused by a lidar pulse signal received from an opposing vehicle, enabling a quick response to an emergency and high-speed driving through a short processing time, and reducing manufacturing production and maintenance costs.

[0050] Figure 1 is a functional configuration diagram of a lidar system for providing autonomous vehicle safety driving information according to an embodiment of the prior art.

[0051] FIG. 2 is a functional configuration diagram of a lidar system that provides safe driving information by comparing detection of individual automatically generated lidar pulse signals of autonomous vehicles according to one embodiment of the present invention.

[0052] Figure 3 is a detailed configuration diagram of a lidar signal generation unit according to one embodiment of the present invention.

[0053] Figure 4 is a detailed configuration diagram of a 3D lidar scan unit according to one embodiment of the present invention.

[0054] Figure 5 is a detailed configuration diagram of a lidar scanner unit according to one embodiment of the present invention.

[0055] Figure 6 is a detailed configuration diagram of a lidar photoelectric conversion unit according to one embodiment of the present invention.

[0056] Figure 7 is a detailed configuration diagram of a transmitter lidar period detection unit according to one embodiment of the present invention.

[0057] Figure 8 is a detailed configuration diagram of a vibration shock absorber according to one embodiment of the present invention.

[0058] FIG. 9 is a signal flow diagram of a method for operating a lidar system that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles according to an embodiment of the present invention.

[0059] FIG. 10 is a diagram illustrating the operation of a first lidar scanner and a second lidar scanner according to an embodiment of the present invention.

[0060] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. In describing the present invention, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the gist of the present invention.

[0061] In the following explanation, suddenness, emergency, change, and adjustment have the same meaning and are described selectively according to the context.

[0062] Meanwhile, wavelength values ​​can be converted into period or frequency values ​​through corresponding calculations. Therefore, in the following description, period and wavelength frequency are described synonymously, and each is described selectively as appropriate to the context. Furthermore, the following description is intended for the safe autonomous driving of autonomous vehicles.

[0063] FIG. 2 is a functional configuration diagram of a lidar system for providing safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles according to an embodiment of the present invention, FIG. 3 is a detailed configuration diagram of a lidar signal generation unit according to an embodiment of the present invention, FIG. 4 is a detailed configuration diagram of a 3D lidar scan unit according to an embodiment of the present invention, FIG. 5 is a detailed configuration diagram of a lidar scanner unit according to an embodiment of the present invention, FIG. 6 is a detailed configuration diagram of a lidar photoelectric conversion unit according to an embodiment of the present invention, FIG. 7 is a detailed configuration diagram of a transceiver lidar period detection unit according to an embodiment of the present invention, and FIG. 8 is a detailed configuration diagram of a vibration shock buffer unit according to an embodiment of the present invention.

[0064] Hereinafter, with reference to all attached drawings, a detailed description will be given of an embodiment of the present invention, wherein a lidar system (900) for providing safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles may include a frame housing (970), a system central control unit (1000), a lidar signal generation unit (2000), a 3D lidar scan unit (3000), a lidar photoelectric conversion unit (4000), a lidar time-of-flight detection unit (5000), a transmission optical bandpass filter unit (6000), a reception optical bandpass filter unit (7000), and a transmission / reception lidar period detection unit (8000).

[0065] The frame housing (970) has a box shape and each functional unit that constitutes the lidar system (900) that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles can be installed in a fixed state in one part, such as built-in or externally.

[0066] The frame housing (970) may further include one or more vibration and shock buffering parts (8120) on the lower surface to cushion and protect against external vibration and shock.

[0067] The vibration shock absorber (8120) may include a fitting guide (8122) having a trapezoidal shape fixed to the lower surface of the frame housing (970) and having protruding lower sides, a fixed plate (8124) that is fitted laterally to be caught by the lower protrusion of the fitting guide (8122) and has a space inside and is supported on the bottom surface, and an elastic body (8126) that is interposed in the inner space of the fixed plate (8124) and has one end caught by the lower surface of the fitting guide (8122) and the other end caught by the upper surface of the fixed plate (8124).

[0068] The frame housing (970) is spray-coated with a housing surface coating agent for waterproofing, contamination prevention, and durability. The housing surface coating agent can be manufactured by mixing 5 parts by weight of mica powder, 10 parts by weight of methylsulfonic methane, 3.5 parts by weight of sodium borohydride, 15 parts by weight of polytetrafluoroethylene, 10 parts by weight of urea, 10 parts by weight of phosphite, 5 parts by weight of gluconate, and 10 parts by weight of sodium bicarbonate with respect to 100 parts by weight of transparent polypropylene resin.

[0069] Polypropylene resin is a hydrocarbon chemically composed of only carbon and hydrogen, so it has a slippery feel similar to candles or soap visually and to the touch, has a specific gravity of 0.91, is lighter than water, and floats on water. It has excellent strength and chemical resistance, so it is widely used for industrial purposes, and has the characteristics of being strong, light, and not absorbing moisture at all.

[0070] Sodium bicarbonate has the advantage of enhancing durability, stain resistance, and waterproofing while increasing molding freedom due to the high crosslinking density of polypropylene resin.

[0071] Phosphites contribute to suppressing deformation by improving strength, hardness, and wear resistance while enhancing chemical resistance and heat insulation, and gluconate has the advantage of preventing interfacial separation, improving fixing power, and suppressing slippage.

[0072] Urea has the advantage of enhancing moisture resistance by securing heat resistance through the formation of a eutectic point, and polytetrafluoroethylene has the advantage of enhancing heat insulation properties by securing chemical resistance, electrical insulation properties, non-adhesion, anti-fouling, heat resistance, and friction properties, thereby strengthening the ability to suppress heat conduction.

[0073] Sodium borohydride has the advantage of increasing bonding strength, securing heat resistance, and enhancing water repellency, moisture resistance, waterproofing, and stain resistance. Methyl sulfonic methane is added to suppress cracking and splitting while maintaining flexibility, and mica powder is well known as a representative heat-insulating agent.

[0074] The system central control unit (1000) is fixedly installed in a part of the frame housing (970) and is connected to each functional unit constituting the lidar system and outputs the corresponding control signal according to the program and parameters downloaded and installed and operated, and can variably control the cycle of the transmitted lidar pulse signal by gradually increasing or decreasing it compared to the currently operating wavelength value within a wavelength range set to a cycle (wavelength) greater than the wavelength value of 10 nanometers.

[0075] The system central control unit (1000) inputs the level value of the first cycle output from the lidar signal generation unit (2000) and the level value of the second cycle output from the lidar photoelectric conversion unit (4000) through the transceiver lidar cycle detection unit (8000), calculates the corresponding level value after the level value of the first cycle has flown with the flight time value calculated from the lidar flight time detection unit (5000), and if the calculated level value of the first cycle is judged to be a low level value within the allowable error range compared to the level value of the second cycle, the lidar signal generation unit (2000) can be controlled to upwardly control the cycle of the lidar pulse signal to a predetermined range.

[0076] That is, it is determined whether the level value of the second cycle received and calculated is a value greater than or less than the calculated reception signal level value, and if the level value of the second cycle received is determined to be a value greater than the calculated reception signal level value, the period value of the first cycle can be controlled to be changed.

[0077] The lidar signal generation unit (2000) is fixedly installed in the frame housing (970) and generates a pulse signal of a specific duty cycle by a corresponding control signal of the system central control unit (1000), and can output a lidar pulse signal of a first cycle that is synthesized and modulated by generating a lidar pulse signal of a specific cycle by voltage control.

[0078] The lidar signal generation unit (2000) may include a pulse signal generation unit (2010), a voltage control oscillation unit (2020), and a modulation unit (2030).

[0079] The pulse signal generation unit (2010) generates and outputs a lidar pulse signal with a duty cycle in the range of 40 to 60% according to a corresponding control signal of the system central control unit (1000), and it is preferable to generate and output a lidar pulse signal of 50%.

[0080] The voltage control oscillator (2020) can generate a lidar pulse signal with a wavelength range of about 905 to 1500 nanometers by a corresponding control signal from the system central control unit (1000).

[0081] The voltage controlled oscillator (2020) is well known as a VCO (voltage controlled oscillator), so further detailed explanation will be omitted.

[0082] The modulation unit (2030) can output a first cycle lidar pulse signal by synthetically modulating signals applied from the pulse signal generation unit (2010) and the voltage control oscillator unit (2020) according to the corresponding control signal of the system central control unit (1000).

[0083] The 3D lidar scanning unit (3000) is fixedly installed in the frame housing (970) and converts the lidar pulse signal applied from the lidar signal generating unit (2000) into a lidar light signal by a corresponding control signal of the system central control unit (1000), and can adjust the scan range to a 3D, selected arbitrary area and output it to the target object (950).

[0084] The 3D lidar scanning unit (3000) may include a lidar generation unit (3010), a lidar scanner unit (3020), and a first focusing lens unit (3030).

[0085] The lidar generation unit (3010) can input a lidar pulse signal applied from the lidar signal generation unit (2000) by the corresponding control signal and convert it into a lidar optical signal to generate the signal.

[0086] The lidar generator (3010) can output a laser pulse signal corresponding to near-infrared rays at a power of 25 to 100 watts. Watts (W) is the product of voltage (V) and current (I), and when a voltage of 5 volts is supplied, a 1 watt laser pulse signal consumes a current of 0.2 amperes (A: ampere), and a 2 watt laser pulse signal consumes a current of 0.4 amperes (A). Therefore, when a voltage of 5 volts is supplied, a 25 watt laser pulse signal consumes a current of 5 amperes (A: ampere), and a 100 watt laser pulse signal consumes a current of 20 amperes (A).

[0087] If the output power exceeds 100 watts, it may affect the vision of nearby users or people near the target, and if it is less than 5 watts, the resolution will be reduced, so it is recommended to adjust the output to 5 to 100 watts, and preferably 50 watts, as this will extend the lifespan and reduce operation and maintenance costs. Since the visual impairment caused by the laser pulse signal is inversely proportional to the square of the distance value, if the output cannot be lowered, it is necessary to stay far away.

[0088] The lidar scanner unit (3020) can scan the lidar optical signal applied from the lidar generator unit (3010) along the first and second axes, respectively, by the corresponding control signal of the system central control unit (1000).

[0089] The lidar scanner unit (3020) may include a first lidar scanner unit (3022) and a second lidar scanner unit (3024).

[0090] The first lidar scanner unit (3022) can scan the lidar optical signal applied from the lidar generator unit (3010) in a straight line in the first axis direction.

[0091] The second lidar scanner unit (3024) can linearly scan the lidar optical signal received from the first lidar scanner unit (3022) in the second axis direction.

[0092] The first lidar scanner unit (3022) and the second lidar scanner unit (3024) have the same or similar configuration, but the scanning direction is different in the X-axis in the first axis or planar coordinates and the Y-axis in the second axis or planar coordinates, which will be described in detail again in the description of FIG. 10 below.

[0093] The first condenser lens unit (3030) can condense and output the lidar optical signal output from the lidar scanner unit (3020) so that dispersion is minimized. The first condenser lens unit (3030) and the second condenser lens unit (4010) described below are optical configurations including a plurality of lenses.

[0094] The lidar photoelectric conversion unit (4000) is fixedly installed on a part of the frame housing (970) and can collect and input a lidar optical signal reflected from a target object (950) and output a second cycle lidar pulse signal converted into an electrical signal.

[0095] The lidar photoelectric conversion unit (4000) may include a second condenser lens unit (4010) and a lidar photoelectric conversion unit (4020).

[0096] The second collecting lens unit (4010) can collect and input the lidar optical signal reflected from the target (950).

[0097] The lidar photoelectric conversion unit (4020) can receive a lidar optical signal from the second condenser lens unit (4010) and convert it into an electric lidar pulse signal and output it.

[0098] The lidar time of flight detection unit (5000) is fixedly installed in a part of the frame housing (970) and receives signals from the lidar signal generation unit (2000) and the lidar photoelectric conversion unit (4000) in response to a corresponding control signal from the system central control unit (1000), calculates the input time difference value, and outputs it. The calculated time difference value becomes very important data for calculating the distance to the target. Meanwhile, the distance value that the lidar pulse signal flies per unit time in the atmosphere is well known.

[0099] The transmission optical bandpass filter unit (6000) is fixedly installed in the frame housing (970) and can input the lidar optical signal of the 3D lidar scan unit (3000) and output it by blocking the noisy lidar optical signal.

[0100] Here, the noisy lidar optical signal refers to a signal outside the set lidar band.

[0101] The receiving optical bandpass filter unit (7000) is fixedly installed in the frame housing (970) and inputs the lidar optical signal that is reflected by the target (950) from the lidar optical signal output from the transmitting optical bandpass filter unit (6000), but can input the lidar optical signal by blocking the noisy lidar optical signal.

[0102] The transmitting optical bandpass filter unit (6000) and the receiving optical bandpass filter unit (7000) have the same configuration and can similarly pass signals with a wavelength of about 905 nanometers or more and lidar pulse signals with a wavelength of about 1500 nanometers or less, and block lidar pulse signals with the remaining wavelengths from passing. The transmitting optical bandpass filter unit (6000) and the receiving optical bandpass filter unit (7000) can be made of glass, but since it is heavy, it is preferable to make it of transparent PET material or industrial transparent plastic.

[0103] The transmitting optical bandpass filter unit (6000) and the receiving optical bandpass filter unit (7000) can use one or more polarizing filters, and it is known that these polarizing filters have a physical (mechanical) configuration and an electronic configuration.

[0104] The transmitting optical bandpass filter unit (6000) and the receiving optical bandpass filter unit (7000) can be spray-coated with a filter protection coating solution that blocks the penetration of dust and moisture and inhibits the attachment of foreign substances and bacteria on one side facing the target object (950).

[0105] The filter protection coating solution can be prepared by mixing 100 parts by weight of transparent PET, 15 parts by weight of dodecyldimethylbenzylammonium chloride, 15 parts by weight of sulfobetaine chitosan, 10 parts by weight of pyromellitic anhydride, 10 parts by weight of polytetrafluoroethylene, 5 parts by weight of polyphosphate salts, 5 parts by weight of vanadium oxide (V2O5), and 5 parts by weight of titanium dioxide having an average diameter of 100 micrometers. It is preferable that the coating thickness be formed to be 50 to 100 micrometers on average for maintaining properties and extending the lifespan.

[0106] PET (polyethylene terephthalate) has the advantages of high transparency, lightness, softness, high insulation, and excellent heat resistance.

[0107] Dodecyldimethylbenzylammonium chloride has the advantage of improving slipperiness by inducing surface uniformity, thereby preventing surface contamination such as dust from sticking to the surface.

[0108] Sulfobetaine chitosan has the advantage of increasing fixation and adhesion through polymer affinity and strengthening mechanical properties, and enhancing erosion resistance and deformation resistance.

[0109] Pyromellitic dianhydride is a substance with CAS number 89-32-7. It has the advantage of enhancing slip properties, increasing antifouling properties, and improving antistatic properties, thereby suppressing dust adhesion.

[0110] Polytetrafluoroethylene is polyfron PTFE-D (Dispersion) with the structural formula (-CF2-CF2-)n, and has the advantage of improving heat resistance and lubricity, thereby improving mold release properties, and enhancing waterproofing and moisture resistance.

[0111] Polyphosphate salts enhance durability by increasing the surface's tear strength and tensile strength, and have the advantage of enhancing corrosion resistance and water pressure resistance, while vanadium oxide (V2O5) enhances the effects of preventing discoloration due to ultraviolet ray blocking, suppressing warping, and suppressing deformation.

[0112] Titanium dioxide is well known for its self-purification properties, as it decomposes air pollutants including NOx and SOx through its photocatalytic effect and eliminates them while inhibiting the growth of pathogens.

[0113] Sulfur dioxide (SOx) is a chemical produced by the combustion of coal, oil, and fossil fuels. These chemicals exist in the atmosphere and, in the form of fine particles, impact marine ecosystems. They form acid rain, which lowers the pH of the water and significantly impacts the adaptation of marine life. Crustaceans such as shrimp are particularly vulnerable to acidic environments, which can lead to a decline in biodiversity.

[0114] NOx stands for nitrogen oxides, produced by the natural nitrogen cycle and combustion processes in the atmosphere. These pollutants significantly contribute to air pollution and climate change, increase hydrogen ion concentration, and are toxic to marine life. They also affect ozone formation in the atmosphere, impact marine ecosystems, and inhibit photosynthesis and photocatalytic activity.

[0115] The LiDAR period detection unit (8000) is fixedly installed in a part of the frame housing (970) and can detect the first period signal and level value of the LiDAR pulse signal output from the LiDAR signal generation unit (2000) and the second period signal and corresponding level value of the LiDAR pulse signal output from the LiDAR photoelectric conversion unit (4000), respectively, and apply them to the system central control unit (1000) and the LiDAR flight time detection unit (5000), respectively.

[0116] The transducer lidar period detection unit (8000) may include a first period detection unit (8010) and a second period detection unit (8020).

[0117] The first period detection unit (8010) can detect the period value and level value of the lidar pulse signal output from the lidar signal generation unit (2000) and apply them to the system central control unit (1000) and the lidar flight time detection unit (5000), respectively.

[0118] The second period detection unit (8020) can detect the period value and level value of the lidar pulse signal output from the lidar photoelectric conversion unit (4000) and apply them to the system central control unit (1000) and the lidar flight time detection unit (5000), respectively.

[0119] FIG. 9 is a signal flow diagram of a method for operating a lidar system that provides safe driving information by comparing detection of individual automatically generated lidar pulse signals of autonomous vehicles according to an embodiment of the present invention, and FIG. 10 is a diagram illustrating the operation of a first lidar scanner and a second lidar scanner according to an embodiment of the present invention.

[0120] Hereinafter, with reference to all attached drawings, a method of operating a lidar system for providing safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles according to an embodiment of the present invention may include a preparation process, a lidar signal output process, a transmission / reception cycle level value extraction process, a noise signal cancellation process, a reception signal level calculation process, a reception signal level judgment process, a cycle value change process, and a target 3D image process.

[0121] The lidar system that provides safe driving information by detecting and comparing individual automatically generated lidar pulse signals of autonomous vehicles may include a frame housing, a system central control unit, a lidar signal generation unit, a 3D lidar scan unit, a lidar photoelectric conversion unit, a lidar time-of-flight detection unit, a transmission optical bandpass filter unit, a reception optical bandpass filter unit, and a transmission / reception lidar period detection unit.

[0122] The preparation process can determine whether a command signal for system operation is input by the system central control unit (S100).

[0123] In the process of outputting a lidar signal, if it is determined that a command signal to start system operation is input by the system central control unit during the preparation process (S100), a lidar signal of the first cycle for detecting the position of an object is generated and output, but can be output in a three-dimensional area (S110).

[0124] It is quite natural that the 3D region here can be any one region, more than one region, or all regions among the front, rear, and both side regions where the autonomous vehicle is moving.

[0125] The process of extracting the transmission cycle level value inputs the lidar pulse signal reflected from the target object in the lidar signal output process (S110) and designates it as the second cycle (S120), and the level values ​​and cycle values ​​of the first and second cycles can be extracted, respectively (S130).

[0126] Designating the period of the signal output here as the first period and the period of the signal received and input as the second period simplifies explanation and understanding.

[0127] The noise signal cancellation process compares the period values ​​of each lidar pulse signal extracted in the transmission / reception period level value extraction process (S130), i.e., the first period value and the second period value (S140), and if the second period value is not the same as the first period value, the signal corresponding to the second period can be deleted (S150).

[0128] The reception signal level calculation process calculates the time value for the round trip of the lidar pulse signal to the target by calculating the difference time value based on the time value at which the first period signal of the noise signal cancellation process is output and the time value at which the second period signal is input, and then calculates the one-way time value again, and substitutes the distance value per unit time of the lidar pulse signal into the calculated time value, thereby calculating the distance value to the target (S160), and can calculate the reception signal level value that attenuates the level value of the first period corresponding to the calculated distance value (S170).

[0129] It is already well known that the corresponding level value, which is the attenuation proportional to the distance a lidar pulse signal travels in the atmosphere, can be calculated through repeated experiments, measurements, and precise calculations. Here, since the atmosphere has an average temperature of 25 degrees Celsius and a clear day is assumed as the standard, the corresponding value, which is different due to weather changes, is explained as reflecting the value detected by the corresponding sensor, which is not depicted or described in the drawing, and this technology is explained as already well known.

[0130] The reception signal level judgment process can determine whether the level value of the second cycle received and calculated in the reception signal level calculation process (S170) is greater than or less than the calculated reception signal level value (S180).

[0131] In the period value change process, if the level value of the second period received in the reception signal level judgment process is judged to be a value greater than the calculated level value of the second period (S180), the period value of the first period is controlled to be changed upward or downward by a set amount (S190), and can be fed back to the lidar signal output process (S110).

[0132] Upward or downward changes are arbitrarily determined by the system central control unit, preferably by changing to a pulse with the largest value within the allowed pulse change range, and when upward changes are no longer possible, downward changes can be made again, and the unit value of change is set to a wavelength value of 10 nanometers.

[0133] The method of converting (corresponding to) a period value into a frequency value is already well known.

[0134] If the level value of the second cycle received here is determined to be a value greater than the level value of the calculated second cycle, it means that the cycles of the lidar pulse signals output from oncoming or nearby autonomous vehicles are the same, and there is a problem that an error occurs in the distance value calculation due to the lidar pulse signal output from oncoming or nearby autonomous vehicles, causing an error or influence in calculating the position of the object, so there is a need to resolve this problem. Therefore, one of the technical ideas pursued is to be able to resolve errors caused by interference by changing (adjusting) the value of the first cycle output, that is, the cycle value of the output signal.

[0135] The 3D image process of the target object can be converted into a 3D image corresponding to the lidar pulse signal output during the lidar signal output process and reflected from the target object and received (S200).

[0136] The repetition judgment process determines whether a signal for repeated operation is input when the autonomous vehicle continues to drive after the 3D image process of the target object (S210). If it is determined that a signal for repeated operation is input due to continued driving, it can be fed back to the lidar signal output process (S110).

[0137] As shown in Fig. 10 in detail, the incident ray incident on the lidar can be expanded to a scan range of 2*β1 by the first moving mirror (mirror1) that moves by an angle of β1 and reflected by the fixed mirror (mirror2) to be incident on the second moving mirror (mirror3).

[0138] The second moving mirror (mirror3) can be set to move at the same angle as the first moving mirror (mirror1) or can be set to move at an angle β2.

[0139] The second moving mirror (mirror3) can extend the scan range of the lidar signal incident at an angle of 2*β1 by an angle of β2.

[0140] If the fixed mirrors (mirror2) are arranged so that they do not interfere with each other and the reflected light signals from multiple moving mirrors (n) do not interfere with each other, the value of the total angle that can be scanned by the lidar signal incident on a single beam (scan angle β) total ) shows that the value of 2(β1 + β2 + .... + βn) is 2.

[0141] It is relatively very important to calculate the length of the fixed mirror (mirror2) here.

[0142] The present invention of this configuration enables the lidar system of an autonomous vehicle to accurately recognize the positions of various obstacles or objects in the surroundings in three dimensions without being influenced (interfered) by the lidar pulse signal output from the opposing vehicle, thereby enabling safe driving, and also has the advantage of quickly analyzing interference by the lidar pulse signal of the opposing vehicle, enabling rapid response to an emergency and high-speed driving through a short processing time, and reducing costs such as manufacturing production and maintenance.

[0143] Although the present invention has been described in detail with respect to the described specific examples, it will be apparent to those skilled in the art that various modifications and variations are possible within the technical scope of the present invention, and it is natural that such modifications and variations fall within the scope of the appended patent claims.

[0144] [Explanation of symbols]

[0145] 900: A lidar system that provides safe driving information by detecting and comparing individual, automatically generated lidar pulse signals from autonomous vehicles.

[0146] 950: Object 970: Frame housing

[0147] 1000: System Central Control Unit 2000: LiDAR Signal Generation Unit

[0148] 2010: Pulse signal generation unit 2020: Voltage-controlled oscillator unit

[0149] 2030: Modulation unit 3000: 3D LiDAR scanning unit

[0150] 3010: LiDAR generator 3020: LiDAR scanner

[0151] 3022: 1st LiDAR scanner unit 3024: 2nd LiDAR scanner unit

[0152] 3030: First condenser lens unit 4000: LiDAR photoelectric conversion unit

[0153] 4010: Second condenser lens unit 4020: LiDAR photoelectric conversion unit

[0154] 5000: LiDAR time-of-flight detection unit 6000: Transmission optical bandpass filter unit

[0155] 7000: Receiver bandpass filter section 8000: Transmitter and receiver lidar period detection section

[0156] 8010: 1st cycle detection unit 8020: 2nd cycle detection unit

[0157] 8120: Vibration shock absorber 8122: Fitting guide

[0158] 8124: Fixed plate 8126: Elastic plate

Claims

1. A frame housing (970) in which each functional unit constituting the lidar system (900) that provides safe driving information by detecting and comparing lidar pulse signals automatically generated by each autonomous vehicle in a box shape is fixedly installed; A system central control unit (1000) that is fixedly installed in the above frame housing (970) and connects to each functional unit that constitutes the lidar system, outputs the corresponding control signal according to the downloaded and installed program and parameters, and variably controls the transmitted lidar pulse signal; A lidar signal generation unit (2000) fixedly installed in the above frame housing (970) and generating a pulse signal of a specific duty cycle by a corresponding control signal of the system central control unit (1000) and generating a lidar pulse signal of a specific period by voltage control and outputting a lidar pulse signal of a first period that is synthesized and modulated; A three-dimensional lidar scan unit (3000) is fixedly installed in the frame housing (970) and converts the lidar pulse signal applied from the lidar signal generation unit (2000) into a lidar light signal by the corresponding control signal of the system central control unit (1000) and adjusts the scan range to a three-dimensional, selected arbitrary area and outputs it to the target (950). A lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

2. In paragraph 1, A lidar photoelectric conversion unit (4000) fixedly installed in the above frame housing (970) and collecting and inputting a lidar optical signal reflected from the object (950) and outputting a second cycle lidar pulse signal converted into an electrical signal; A lidar flight time detection unit (5000) that is fixedly installed in the frame housing (970) and receives signals from the lidar signal generation unit (2000) and the lidar photoelectric conversion unit (4000) in response to a corresponding control signal from the system central control unit (1000), calculates the input time difference value, and outputs it; A transmission optical bandpass filter unit (6000) that is fixedly installed in the above frame housing (970) and inputs the lidar optical signal of the 3D lidar scan unit (3000) and outputs the lidar optical signal by blocking the noisy lidar optical signal; Further comprising a receiving optical bandpass filter unit (7000) which is fixedly installed in the above frame housing (970) and inputs a lidar optical signal that is reflected by an object (950) and returned from the transmitting optical bandpass filter unit (6000) but blocks a noisy lidar optical signal; A lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

3. In paragraph 2, The above lidar signal generation unit (2000) A pulse signal generation unit (2010) that generates a pulse signal with a duty cycle ranging from 40 to 60% according to the corresponding control signal of the system central control unit (1000); A voltage-controlled oscillator (2020) that generates a lidar pulse signal in the wavelength range of 905 to 1500 nanometers by the corresponding control signal of the system central control unit (1000); A modulation unit (2030) that synthesizes and modulates signals respectively applied from the pulse signal generation unit (2010) and the voltage control oscillator unit (2020) by the corresponding control signal of the system central control unit (1000) to output a first cycle lidar pulse signal; A lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

4. In paragraph 3, The above 3D lidar scan unit (3000) A lidar generation unit (3010) that inputs a lidar pulse signal applied from the above lidar signal generation unit (2000) and converts it into a lidar optical signal; A lidar scanner unit (3020) that scans the lidar optical signal applied from the lidar generator unit (3010) along the first and second axes, respectively, by the corresponding control signal of the system central control unit (1000); Including a first focusing lens unit (3030) that focuses and outputs a lidar optical signal output from the lidar scanner unit (3020); A lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

5. In the method of operating a lidar system that provides safe driving information by comparing detection of individual automatically generated lidar pulse signals of autonomous vehicles, A preparatory process to determine whether a command signal for system operation is input by the system central control unit; In the above preparation process, if it is determined that a command signal for system operation is input, a lidar signal output process that generates and outputs a first signal lidar pulse signal for detecting the position of an object, but outputs it in a three-dimensional area; A process for converting a 3D image of an object into a 3D image corresponding to a lidar pulse signal output in the above lidar signal output process and reflected on the object; A method for operating a lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

6. In paragraph 5, A transmission / reception period level value extraction process in which the outputted lidar pulse signal is input as a lidar pulse signal reflected on an object in the above lidar signal output process and designated as a second signal, and the level value and period value of the first signal and the second signal are extracted, respectively; In the above process of extracting the transmission / reception period level value, the period value of each lidar pulse signal is compared, and if the first signal value is not the same as the first signal value, the signal corresponding to the second signal is deleted and the noise signal is eliminated, and the process of proceeding to the 3D image process of the target object is further included. A method for operating a lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

7. In paragraph 6, A reception signal level calculation process that calculates a distance value to an object by calculating the time value at which the first signal of the noise signal cancellation process is output and the time value at which the second signal is input, and calculates a reception signal level value attenuated in response to the calculated distance value based on the level value of the first signal; In the above-mentioned reception signal level calculation process, a reception signal level judgment process is further included, in which the level value of the second signal received and calculated is determined to be greater than or less than the calculated reception signal level value, and if it is determined to be a smaller level value, the reception signal level judgment process proceeds to the object 3D image process. A method for operating a lidar system that provides safe driving information by comparing detection of individual, automatically generated lidar pulse signals from autonomous vehicles.

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