Ukrainian Journal of Physical Optics


2024 Volume 25, Issue 4


ISSN 1816-2002 (Online), ISSN 1609-1833 (Print)

STUDY ON INTERFERENCE BETWEEN TWO VEHICLE-MOUNTED 3D MECHANICAL ROTATING LIDAR BASED ON RAY-TRACING

Ming Ling, Xiaoli Wang, Hao Chan and Sha Xu

Author Information
*Ming Ling ORCID logo, The School of Electronic & Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China,
Xiaoli Wang ORCID logo, The School of Electronic & Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China,
Hao Chan ORCID logo, The School of Electronic & Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China,
Sha Xu ORCID logo, The School of Electronic & Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
*Corresponding author. Tel: +86 21 67791419, e-mail address: 02180010@sues.edu.cn

ABSTRACT

In this paper, we have studied the possible interference phenomena of vehicle-mounted 3D mechanical rotating LiDAR based on ray tracing and distinguished and defined the incident and scattered interference in detail according to the structure of the transmitting and receiving optical system of 3D LiDAR and the divergence characteristics of the pulsed beam. The geometric model of 3D LiDAR interference is proposed using the overlapping region of the intersection of the transmission paths of the individual pulsed beams emitted by the two 3D LiDARs on the target to simulate the interference. Theoretically, the interference risk between two LiDARs can be deduced from the relationship between the spatial position of the set of coincident intersection points of the two 3D LiDARs and their rotational differences. We designed an experiment with three progressive test cases to validate the proposed interference model and demonstrate the rationality and applicability of the theory in explaining and generalizing the 3D mechanical rotational LiDAR interference phenomenon.

Keywords: LiDAR, ray-tracing, mutual interference, noise point, modeling analysis

UDC: 528.8.044

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    У цій статті, використовуючи метод трасування променів, ми досліджували можливі явища завад 3D механічного обертового лідара, встановленого на транспортному засобі. Ми визначали падаючу та розсіяну завади відповідно до структури оптичної системи передачі та прийому 3D лідара та характеристик розбіжності імпульсного променя. Геометрична модель завад 3D лідара була запропонована на основі перетину шляхів передачі окремих імпульсних променів, випромінюваних двома 3D лідарами на ціль для симуляції завад. Теоретичний ризик завад між двома лідарами можна отримати з співвідношення між просторовим положенням набору збіжних точок перетину двох 3D лідарів та відмінностями в куті обертання між ними. Ми розробили експеримент з трьома прогресивними тестовими випадками для перевірки запропонованої моделі завад, щоб продемонструвати раціональність і застосовність теорії в поясненні та узагальненні прояву завад 3D механічного обертового лідара.

    Ключові слова: лідар, трасування променів, взаємні завади, шумова точка, аналіз моделювання

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