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Design and Implementation of a Pulsed LiDAR System Based on ToF Method

Dabidian, Sobhan | 2022

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 55340 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Fotowat Ahmadi, Ali; Kavehvash, Zahra
  7. Abstract:
  8. Every year millions of people around the world die because of car accidents, most of which are caused by human faults. This has greatly increased the need for advanced driver-assistance systems (ADAS) and self-driving cars. Currently, driver assistance systems rely mainly on radar sensors and cameras to detect various objects and obstacles around the vehicle. Radar, due to its low lateral resolution, and Camera, due to its sensitivity to environmental conditions and lack of distance measurement, do not perform well alone. Therefore, we need light detection and ranging (LiDAR) that measures the distances from objects using laser light. Due to the micrometer wavelength of light, LiDAR can have a much better lateral resolution than radar and can therefore detect smaller targets at longer ranges. In this thesis, various types of existing LiDAR sensors and their scanning systems are introduced. Then the system design and the simulation results of pulsed LiDAR will be presented. We show the measurement results of our avalanche photodiode (APD)-based LiDAR system with variable delay coding and in pixel histogramming for interference suppression, achieving 0.3°×1° angular resolution with 60 horizontal and 8 vertical pixels. It covers 18°(H)×8°(V) field of view (FoV) by mechanical scanning.
  9. Keywords:
  10. Light Detection and Ranging (LIDAR) ; Advanced Driver Assistance System (ADAS) ; Time of Flight (ToF)Imaging ; Self-Driving Car ; Laser Scanner ; Pulsed Direct Time of Flight (D-ToF)LiDAR ; Avalanche Photodiode (APD)Based Receiver

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