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US 12,736,641 B2Granted
Lidar noise removal apparatus and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorsEun Sang Lee, Yong Sung Lee, Sang Gyu Park, Woo Il Lee
Life of this patent
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Abstract
A lidar noise removal apparatus outputs an electrical signal corresponding to an input light signal and compares the electrical signal with a threshold voltage to detect an electrical signal greater than the threshold voltage. The apparatus variably adjusts the threshold voltage based on a result of comparing the number of receptions of the electrical signal detected through the comparative device with a preset first reference number of times.
Claims16
A lidar noise removal apparatus, comprising:
- a light receiving device provided in a lidar to output an electrical signal corresponding to an input light signal;
- a comparative device including a processor and configured to compare the electrical signal with a threshold voltage to detect an electrical signal greater than the threshold voltage;
- and
- a controller including a processor and configured to variably adjust the threshold voltage based on a result of comparing a number of receptions of an electrical signal detected through the comparative device with a first reference number of times;
- wherein the first reference number of times is set according to a minimum time between which distinguishment of signals is possible for signal processing of the electrical signals detected through the comparative device;
- and
- wherein the controller is further configured to:
- dynamically adjust the threshold voltage for each of a plurality of horizontal unit fields of view of the lidar when a horizontal field of view scanned by the lidar is changed;
- increase the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is more than the first reference number of times;
- and
- decrease the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is less than the first reference number of times.
8 more elements
A lidar noise removal apparatus comprising:
- a light receiving device provided in a lidar to receive an electrical signal corresponding to an input light signal;
- a comparative device configured to compare the electrical signal with a threshold voltage to detect an electrical signal greater than the threshold voltage;
- and
- a controller configured to monitor a level of a noise through an analog-digital converter (ADC) based on the electrical signal output from the light receiving device, and variably adjust the threshold voltage based on the monitored level of the noise;
- wherein the first reference number of times is set according to a minimum time between which distinguishment of signals is possible for signal processing of the electrical signals detected through the comparative device;
- and
- wherein the controller is further configured to:
- dynamically adjust the threshold voltage for each of a plurality of horizontal unit fields of view of the lidar when a horizontal field of view scanned by the lidar is changed;
- increase the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is more than the first reference number of times;
- and
- decrease the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is less than the first reference number of times.
8 more elements
A lidar noise removal method comprising:
- outputting, by a light receiving device provided in a lidar, an electrical signal corresponding to an input light signal;
- comparing, by a comparative device, the electrical signal with a threshold voltage to detect an electrical signal greater than the threshold voltage;
- variably adjusting, by a controller, the threshold voltage based on a result of comparing the number of receptions of the electrical signal detected through the comparative device with a preset first reference number of times;
- wherein the first reference number of times is set according to a minimum time between which distinguishment of signals is possible for signal processing of the electrical signals detected through the comparative device;
- dynamically adjusting, by the controller, the threshold voltage for each horizontal unit field of view of the lidar when the horizontal field of view scanned by the lidar is changed;
- wherein the variably adjusting of the threshold voltage includes:
- increasing, by the controller, the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is more than the first reference number of times;
- and
- decreasing, by the controller the threshold voltage when the number of receptions of the electrical signal detected through the comparative device is less than the first reference number of times.
6 more elements
Dependencies are inferred from the claim text.