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Abstract
Autonomous vehicles need accurate 3D perception with a decent frame rate and high angular resolution to detect obstacles reliably and avoid collisions. We developed a low-cost scanning multichannel light detection and ranging sensor architecture allowing scalable frame rates by adjusting the number of laser and detector pairs. Scanning is achieved by a pair of micro–electro–mechanical system (MEMS) mirrors. A control pattern for the MEMS mirrors to maximize the frame rate is presented. A built prototype based on the proposed architecture achieves a frame rate of 11.5 Hz, a field of view of ${70}^\circ \times {30}^\circ$, and an angular resolution of 0.4°. The distance resolution is 6 cm. Reliable single-shot detection for low-reflective objects up to 19 m indoors and 11 m under direct sunlight exposure is achieved. A performance assessment based on the presented measurement system for recently available vertical-cavity surface-emitting laser arrays with power densities up to $1\;{{\rm kW/mm}^2}$ shows promising improvement potential.
© 2023 Optica Publishing Group
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