Automotive LiDAR. General Motors R&D. Ariel Lipson

Transcription

1 Automotive LiDAR General Motors R&D Ariel Lipson

2 Overview How LiDARs work (Automotive) State of play current devices, costs Alternative technologies / approaches and future outlook Advantages of LiDAR-enabled perception Technical challenges for LiDAR interference, form factor etc.

3 High Performance LiDAR in Automotive Google Toyota Audi Volkswagen Integrated data from Velodyne 64HD lidar and 5 SICK lidars using an Oxford Technical Solutions GPS package. Data was taken around 2007, during preparation to the DARPA Urban Challenge Competition

4 Robo Taxis

5 LiDAR Theory Time of Flight (TOF) LiDAR Laser Range = Time speed of light 2 10ns m/s 2 = 15m Detector P r = P t D 2 ρ 4R 2 η sys η atm cosα

6 Rotating LiDAR Laser Detector Resolution: separable measurement points We would like 3 points on a motorcyclist at 100 m 0.6 m = 6 mrad 2 mrad = 0.1 deg 100 m

7 Coherent Detection - FMCW ADANY et al.: CHIRPED LIDAR USING SIMPLIFIED HOMODYNE DETECTION FMCW modulation is better suited for LiDAR using lower peak power semiconductor lasers

8 System Considerations Illumination Detection Type: laser / LED Power: mw KW Wavelength Eye safety Field of view Pulses / CW Material: Si, InGaAs, Ge Type: PIN, APD, SPAD Field of view Pulses / CW Detection scheme: Direct TOF Coherent, FMCW 905 nm 1500 nm Sun Reduction System (automotive) Reduce field of view Spectral filters AC coupling Longer wavelength Large field of view High resolution Small form factor Low cost Robust Simple integration

9 When Price is Less Relevant 360 Field of view Long focal length High resolution Low ambient light interference Large collection lenses 64 high power lasers Long range High resolution encoders

10 From Spinning to Solid State Robustness issues Not designed for MP No flexibility Velodyne Hard to integrate on a vehicle Mechanically rotating 360 FOV Ibeo Scala No moving parts Compact in size Lower cost Automotive grade <120 Field of view Quanergy ASC / Continental Conti, Aerostar Solid State 120 FOV 90 FOV

11 Trends Size (cm) 10s 1s Performance Longer range Denser Price $10000 $100

12 Examples of Lidar systems Pros Cons Detector Mechanical Scanner 360 FOV, hi res Low light interference Small number of expensive components Mechanically rotating Inherently large Vertical resolution Silicon, simple

13 Examples of Lidar systems Pros Cons Mechanical Scanner 360 FOV, hi res Low sun interference Small number of expensive components Mechanically rotating Inherently large Vertical resolution Flash No time distortion Low sun interference No moving parts High peak power laser complex detector Range? Detector Silicon, simple Non silicon / hi res - complex

14 Examples of Lidar systems Pros Cons Mechanical Scanner Flash Phase Array 360 FOV, hi res Low sun interference Small number of expensive components Mechanically rotating Inherently large Vertical resolution Martijn J.R. Heck; published by De Gruyter No time distortion Low sun interference No moving parts Nature 493, (10 January 2013) High peak power laser complex detector Range? small No moving parts Random access performance IEEE Spectrum MIT Photonic Microsystems Group Complex technology Side lobes 2D very complex Detector Silicon, simple Non silicon / hi res - complex Needs a 2D array to remove side lobes ambiguity

15 Low Cost solid state LiDAR Development What is the #1 problem with low cost LiDAR development? Everyone is used to the HD data from rotating Systems 15

16 LiDAR-Enabled Perception The ability to become aware of something through the senses

17 LiDAR Application Forward Looking 180 FOV m = 6 sec at 50 kph 0.1 resolution 10 FOV m 0.1 resolution STO P

18 LiDAR-Enabled Perception Occupancy Grid representation Classification Tracking Himmelsbach et al.,2009 IEEE/RSJ International C CogInfoCom 2013

19 LiDAR-Enabled Localization Building occupancy grid Localization based on stored data

20 Automated Ground Truthing Velodyne LIDAR Use Lidar to train a neural network. No manual annotation needed

21 Result example

22 Technical Challenges Long Range High Resolution, vertical as well. Performance in bad weather conditions Dark colour / reflective objects Interference between vehicles Small form factor Low cost No signal from road 20m >70m The Robo-Taxi Era The consumer Era

23 Fusion Camer a LiDAR Radar

24 Thank You