Multi-pulse fusion analysis for LiDAR ranging

A light detection and ranging (LiDAR) apparatus for an automobile, the apparatus comprising:

• a logic circuit having an output laser pulse group transmission trigger signal;
• a laser source, coupled to the logic circuit, having a laser output that transmits a plurality of laser pulses within a first time period in response to the output laser pulse group transmission trigger signal;
• a photodetector positioned to receive a plurality of reflected pulses corresponding to the plurality of laser pulses as reflected off an object;
• an amplifier, coupled to the photodetector to amplify the reflected pulses;
• an analog to digital converter coupled to the amplifier to convert the reflected pulses into digital reflected pulses;
• a matched filter coupled to the analog to digital converter to use convolution to compare the digital reflected pulses with a replica of the transmitted plurality of laser pulses to improve a signal to noise ratio and producing a higher number of output peaks than the number of reflected pulses;
• a processor configured to determine the signal-to-noise ratio (SNR) for each of the output peaks;
• non-transitory, computer readable code, embedded on media accessible by the processor, to determine a range to the object from each of the output peaks;
• the non-transitory, computer readable code further being operable to weight the range to the object from each of the output peaks by a corresponding signal to noise ratio for each of the output peaks to provide a plurality of weighted ranges;
• and
• the non-transitory, computer readable code further being operable to combine the weighted ranges to provide a final determined range to the object.

A method comprising:

• generating, by a logic circuit, a laser pulse group transmission trigger signal;
• transmitting, by a laser source in response to the laser pulse group transmission trigger signal, at least one transmitted laser pulse within a first time period;
• receiving, at a photodetector, at least one reflected pulse corresponding to the transmitted pulse as reflected off an object;
• converting, in an analog to digital converter, the reflected pulse into a digital reflected pulse;
• processing, in a matched filter, the digital reflected pulse using convolution with a replica of the transmitted laser pulse to produce a plurality of output peaks;
• determining the signal-to-noise ratio (SNR) for each of the output peaks;
• determining, in a processor, a range to the object using a fusion of the peaks and weighting, in the processor, by a corresponding SNR for each of the output peaks to provide a plurality of weighted numbers;
• combining, in the processor, the weighted numbers to provide an final determined range to the object.