Method for determining the distance separating an object and an optical detection system, and corresponding system

Patent metadata

Field	Value
Publication number	US-11500095-B2
Application number	US-201916289016-A
Country	US
Kind code	B2
Filing date	Feb 28, 2019
Priority date	Mar 14, 2018
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

A method, for determining the real distance separating an object and an optical detection system, includes, from several so-called reported distances respectively less than or equal to individual reference distances dependent respectively on modulation frequencies: in a first step, determining an initial deviation coefficient between the reported distances and incrementing the smallest of the reported distances with the corresponding individual reference distance; then in a second step, determining a current deviation coefficient between the current distances obtained in the preceding step and incrementing the smallest of the current distances with the corresponding individual reference distance; and in a third step, repeating the second step until all the current distances exceed a common reference distance greater than the individual reference distances.

First claim

What is claimed is:

1. A method for determining a real distance separating an object and an optical detection system, the method comprising:
emitting, by an emission circuit of the optical detection system, a plurality of radiations, wherein each radiation of the plurality of radiations is modulated at a respective modulation frequency;
determining a plurality of reported distances based on reflections of the plurality of radiations received at the optical detection system, a respective reported distance of the plurality of reported distances being less than or equal to a respective reference distance, the respective reference distance being dependent on the respective modulation frequency;
determining, by a processing circuit of the optical detection system, an initial deviation coefficient among the plurality of reported distances;
incrementing, by the processing circuit, a smallest one of the plurality of reported distances with the respective reference distance corresponding to the smallest one of the plurality of reported distances to produce a plurality of current distances;
determining, by the processing circuit, a current deviation coefficient among the plurality of current distances;
incrementing, by the processing circuit, a smallest one of the plurality of current distances with the respective reference distance corresponding to the smallest one of the plurality of current distances;
repeating the determining the current deviation coefficient and the incrementing the smallest one of the plurality of current distances until each of the plurality of current distances exceeds a common reference distance greater than each respective reference distance; and
determining the real distance from the plurality of current distances associated with a smallest one of the current deviation coefficients.

2. The method according to claim 1 , wherein:
determining the initial deviation coefficient and incrementing the smallest one of the plurality of reported distances with the respective reference distance corresponding to the smallest one of the plurality of reported distances further comprises:
storing the initial deviation coefficient and the plurality of reported distances; and

determining the current deviation coefficient and incrementing the smallest one of the plurality of current distances with the respective reference distance corresponding to the smallest one of the plurality of current distances further comprises:
comparing the current deviation coefficient and the initial deviation coefficient; and
replacing the current deviation coefficient and the plurality of reported distances with the initial deviation coefficient and the plurality of current distances, respectively, in response to the current deviation coefficient being less than the current deviation coefficient.

3. The method according to claim 1 , wherein the initial deviation coefficient is equal to a sum of respective absolute differences between respective reported distances taken two-by-two, and wherein the current deviation coefficient is equal to a sum of respective absolute differences between respective current distances taken two-by-two.

4. The method according to claim 1 , wherein the initial deviation coefficient is equal to a sum of squares of respective differences between respective reported distances taken two-by-two, and wherein the current deviation coefficient is equal to a sum of squares of respective differences between respective current distances taken two-by-two.

5. The method according claim 1 , wherein the common reference distance is a lowest common multiple of all respective reference distances.

6. The method according to claim 1 , wherein the respective reference distance is equal to half a distance travelled by light for a duration equal to an inverse of the respective modulation frequency.

7. The method according to claim 1 , further comprising respectively and sequentially measuring phase shifts of the reflections of the plurality of radiations relative to the plurality of radiations emitted by the optical detection system so as to determine the plurality of reported distances.

8. An optical detection system configured to determine a real distance separating an object and the optical detection system, the optical detection system comprising:
an emitter configured to emit a plurality of radiations, wherein each radiation of the plurality of radiations is modulated at a respective modulation frequency;
a plurality of optical detection circuits configured to receive reflections of the plurality of radiations; and
a processing circuit configured to:
determine a plurality of reported distances based on the reflections of the plurality of radiations, a respective reported distance of the plurality of reported distances being less than or equal to a respective reference distance, the respective reference distance being dependent on the respective modulation frequency;
determine an initial deviation coefficient among the plurality of reported distances;
increment a smallest one of the plurality of reported distances with the respective reference distance corresponding to the smallest one of the plurality of reported distances to produce a plurality of current distances;
determine a current deviation coefficient among the plurality of current distances;
increment a smallest one of the plurality of current distances with the respective reference distance corresponding to the smallest one of the plurality of current distances;
repeat the determining the current deviation coefficient and the incrementing the smallest one of the plurality of current distances until each of the plurality of current distances exceeds a common reference distance greater than each respective reference distance; and
determine the real distance from the plurality of current distances associated with a smallest one of the current deviation coefficients.

9. The optical detection system according to claim 8 , wherein the processing circuit comprises:
a storage stage configured to, in determining the initial deviation coefficient and incrementing the smallest one of the plurality of reported distances with the respective reference distance corresponding to the smallest one of the plurality of reported distances, store the initial deviation coefficient and the plurality of reported distances; and
a computation stage configured to, in determining the current deviation coefficient and incrementing the smallest one of the plurality of current distances with the respective reference distance corresponding to the smallest one of the plurality of current distances, compare the current deviation coefficient and the initial deviation coefficient and, replace the current deviation coefficient and the plurality of reported distances with the initial deviation coefficient and the plurality of current distances, respectively, in response to the current deviation coefficient being less than the current deviation coefficient.

10. The optical detection system according to claim 8 , wherein the initial deviation coefficient is equal to a sum of respective absolute differences between respective reported distances taken two-by-two, and wherein the current deviation coefficient is equal to a sum of respective absolute differences between respective current distances taken two-by-two.

11. The optical detection system according to claim 8 , wherein the initial deviation coefficient is equal to a sum of squares of respective differences between respective reported distances taken two-by-two, and wherein the current deviation coefficient is equal to a sum of squares of respective differences between respective current distances taken two-by

Assignees

• St Microelectronics Grenoble 2

Inventors

• Mellot Pascal

Classifications

• G01S7/4814

  of transmitters alone · CPC title

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/4915

  Time delay measurement, e.g. operational details for pixel components (signal extraction and conditioning G01S7/493); Phase measurement · CPC title

• G01S17/931

  of land vehicles · CPC title

• G06F17/12 Primary

  Simultaneous equations {, e.g. systems of linear equations} · CPC title