| 摘要 |
A vehicle and ladar sensor assembly system is proposed which makes use of forward mounted long range ladar sensors and short range ladar sensors mounted in auxiliary lamps to identify obstacles and to identify potential collisions with the vehicle. A low cost assembly is developed which can be easily mounted within a body panel cutout of a vehicle, and which connects to the vehicle electrical and computer systems through the vehicle wiring harness. The vehicle has a digital processor which interprets 3D data received from the ladar sensor assembly, and which is in control of the vehicle subsystems for steering, braking, acceleration, and suspension. The digital processor onboard the vehicle makes use of the 3D data and the vehicle control subsystems to avoid collisions and steer a best path. |
| 主权项 |
1. A collision avoidance system comprising:
a vehicle having at least one ladar sensor mounted thereto, the vehicle having a cutout in a body panel, the cutout having a shape adapted to receive and engage a retention feature on the one ladar sensor, and the vehicle also having a first digital processor connected to a wiring harness, a first connector attached at a terminus of said wiring harness, said first connector adapted to mate with a connector of the one ladar sensor, and the first digital processor receiving three dimensional data from the ladar sensor through the wiring harness, and a control system which controls the path of said vehicle, said first digital processor applying controls through said control system to conduct the vehicle along a preferred path;
and the ladar sensor comprisinga receiving lens,a laser transmitter, said laser transmitter with a modulated laser light output and a diffusing optic adapted to illuminate a scene in a field of view of said at least one ladar sensor,an automatic range correction circuit having a zero range reference output,a two dimensional array of light sensitive detectors positioned at a focal plane of said receiving tens, each of said light sensitive detectors with an output adapted to produce an electrical response signal from a reflected portion of said modulated laser light output,a readout integrated circuit with a plurality of unit cell electrical circuits, each of the unit cell electrical circuits having an input connected to one of the light sensitive detector outputs, each unit cell electrical circuit having an electrical response signal demodulator and a range measuring circuit connected to an output of said electrical response signal demodulator, said range measuring circuit further connected to the zero range reference output,and a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors; a second digital processor connected to receive data outputs from the range measuring circuits and adapted to conduct operations on said data outputs, and to provide digital outputs to said first digital processor, and a temperature stabilized frequency reference connected to the second digital processor. |
