LiDAR Interference Mitigation Using Infrared Camera Detection
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Solution Overview
Problem
LiDAR sensors in close proximity can interfere with each other, leading to false point cloud data and potentially causing undesirable actions in autonomous vehicles, such as unnecessary emergency braking, due to misinterpretation of laser pulses.
Innovation Solution
A LiDAR system paired with an infrared (IR) camera, where the IR camera captures images to detect interfering pulses and provides information to the LiDAR sensor to identify and mitigate interference by labeling suspicious points in the point cloud or discarding them, or using idle detectors to detect interfering signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple LiDAR sensors operate in close proximity, then the coverage and sensing capability are improved, but interference between sensors occurs causing false point cloud data
Solution Approach 1:
The patent introduces an infrared camera as an intermediary device to detect and identify interfering laser pulses from other LiDAR sensors. The camera captures images in the infrared spectrum to visually locate suspicious pulses, which are then used to label and filter corresponding points in the point cloud data, thereby resolving the interference problem while maintaining multi-sensor operation
Solution Approach 2:
The system implements a feedback mechanism where the infrared camera continuously monitors for interfering pulses and provides real-time information back to the LiDAR sensor. This feedback loop enables dynamic identification and mitigation of interference, allowing the system to maintain reliable data even when multiple sensors operate simultaneously
2Productivity
If LiDAR sensors emit continuous laser pulses to maintain high measurement rates, then productivity is improved, but interference with other sensors increases
Solution Approach 1:
The patent converts the harmful interfering laser pulses into a detectable signal by using an infrared camera to capture and identify them. The interfering pulses that would normally degrade data quality are instead used to create labels for filtering, transforming a harmful factor into a useful detection mechanism that maintains high measurement rates while eliminating interference effects
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The integration of an IR camera with the LiDAR system effectively reduces interference by accurately distinguishing between genuine return pulses and interfering pulses, enhancing the reliability of 3D mapping and preventing erroneous actions in autonomous systems.
Implementation Method 1
The LiDAR sensor measures the time it takes for each laser pulse to travel from the LiDAR sensor to an object within the sensor's field of view, then bounce off the object and return to the LiDAR sensor. Based on the time of flight of the laser pulse, the LiDAR sensor determines how far away the object is from the LiDAR sensor.
Implementation Method 2
The IR camera is configured to capture IR images concurrently with operation of the LiDAR sensor, analyze the IR images to detect presence of suspicious IR pulses that are from sources other than the one or more light sources of the LiDAR sensor
Data Source
AI summary
A LiDAR system includes a LiDAR sensor and an infrared (IR) camera. The LiDAR sensor includes one or more light sources configured to emit a set of light pulses, one or more detectors configured to receive a set of return light pulses, and a processor configured to determine a time of flight for each return light pulse, and obtain a point cloud based on the times of flight of the set of return light pulses. The IR camera is configured to capture IR images concurrently with operation of the LiDAR sensor, analyze the IR images to detect presence of suspicious IR pulses, and provide information about the suspicious IR pulses to the LiDAR sensor. The processor of the LiDAR sensor is further configured to identify one or more points of the point cloud as suspicious points due to interference based on the information about the suspicious IR pulses.