Optical telemetry system

Abstract

The present invention relates to an optical telemetry system for measuring the distance between two vehicles comprising a first optoelectronic assembly formed by at least one light source SL.sub.s and at least one photosensitive sensor CP+, which source and sensor are oriented towards in front of the vehicle, and a second optoelectronic assembly formed by at least one light source SL.sub.c (6) and at least one photosensitive sensor CP.sub.c (5) that is oriented towards behind the vehicle, characterized in that said light sources SL.sub.s and SL.sub.c are conventional light sources, the light source SL.sub.s being modulated by a signal of frequency F.sub.s, said light source SL.sub.c (6) of the target (4) being modulated by a clock of frequency controlled by a phase-locked loop driven by the electrical signal delivered by said photosensitive sensor CP.sub.c, said first optoelectronic assembly furthermore comprising a circuit for measuring the phase shift between the electrical signal delivered by said photosensitive sensor CP.sub.s (5) and the signal modulating the paired light source SL.sub.s (6), said system furthermore comprising a computer for determining the distance depending on the frequency F.sub.s and the measured phase shift. The invention also relates to an optoelectronic assembly for an optical telemetry system, to a vehicle equipped with such a system and to a telemetry method.

Claims

1. An optical telemetry system for measuring the distance between a following vehicle and a followed vehicle; the system comprising: a first optoelectronic assembly formed by at least one first light source SL.sub.s and at least one first photosensitive sensor CP.sub.s, wherein said at least one first source and at least one first photosensitive sensor are oriented in a first direction of the following vehicle, and a second optoelectronic assembly formed by at least one second light source SL.sub.c and at least one second photosensitive sensor CP.sub.c oriented in the opposite direction of the followed vehicle, wherein said at least one first and second light sources SL.sub.s and SL.sub.c are conventional light sources, the at least one first light source SL.sub.s being modulated by a signal of frequency F.sub.s, said at least one second light source SL.sub.c of the followed vehicle being modulated by a clock of a frequency controlled by a phase-locked loop driven by the electrical signal delivered by said at least one second photosensitive sensor CP.sub.c, said first optoelectronic assembly further comprising a circuit for measuring the phase shift between the electrical signal delivered by said at least one first photosensitive sensor CP.sub.s and the signal modulating the paired at least one first light source SL.sub.s, said system further comprising a computer for determining the distance depending on the frequency F.sub.s and the measured phase shift.

2. The optical telemetry system according to claim 1, wherein said at least one first light source SL.sub.s of the first optoelectronic assembly is directed towards a front of the following vehicle and is formed by LED lamps of a vehicle emitting a white light.

3. The optical telemetry system according to claim 1, wherein said at least one second light source SL.sub.c of the second optoelectronic assembly is directed towards a rear of the followed vehicle and is formed by a signaling lamp of a vehicle emitting a colored light.

4. The optical telemetry system according to claim 1, wherein the modulation signal is a square-wave signal.

5. The optical telemetry system according to claim 1, wherein the modulation signal is a sinusoidal signal.

6. The optical telemetry system according to claim 1, wherein at least one of the optoelectronic assemblies comprises a circuit for processing the signal in order to reconstruct a signal corresponding to the nominal form based on a light signal received by the at least one first or second photosensitive sensor.

7. The optical telemetry system according to claim 1, wherein the phase-shift measurement is performed by a heterodyne circuit.

8. The optical telemetry system according to claim 1, wherein the optoelectronic assemblies comprise an opaque cover preventing direct transmission between the at least one light source and the at least one photosensitive sensor.

9. The optical telemetry system according to claim 1, wherein said at least one second light source SL.sub.c of the followed vehicle is modulated by a clock of frequency F.sub.c, one of the frequencies F.sub.s, F.sub.c being a multiple of the other, the first optoelectronic assembly comprising a circuit for filtering the signal delivered by the at least one first photosensitive sensor CP.sub.s by a filter reducing the amplitude of the signals of frequency F.sub.s.

10. The optical telemetry system according to claim 1, wherein at least one of said optoelectronic assemblies comprises a circuit for encoding the modulated signal.

11. The optical telemetry system according to claim 1, wherein the first optoelectronic assembly directed towards in front of the following vehicle is formed by one first light source SL.sub.s and two first photosensitive sensors CP.sub.s arranged on either side at the back of the vehicle, and in that the optoelectronic assembly directed towards behind is formed by at least one second light source SL.sub.c and one second photosensitive sensor CP.sub.c.

12. The optical telemetry system according to claim 1, wherein the first optoelectronic assembly formed by two first light sources SL.sub.s and two first photosensitive sensors CP.sub.s on either side at the front of the following vehicle, each of the light sources SL of the following vehicle being modulated with a specific frequency F, as well as a second optoelectronic assembly directed towards the rear, formed by two second light sources SL.sub.c on either side at the back of the followed vehicle and at least one second photosensitive sensor CP.sub.c, each of the light sources SL of the followed vehicle being modulated with a specific frequency F.

13. The optical telemetry system according to claim 12, wherein the second optoelectronic assembly comprises two second photosensitive sensors CP.sub.c arranged on either side at the back of the followed vehicle.

14. The optoelectronic assembly for an optical telemetry system according to claim 1, wherein the system comprises at least one first light source SL.sub.s modulated by a signal of frequency F.sub.s, and at least one first photosensitive sensor CP.sub.s as well as a circuit for measuring the phase shift between the electrical signal delivered by said at least one first photosensitive sensor CP.sub.s and the signal modulating the paired at least one first light source SL.sub.s, said system further comprising a computer for determining the distance depending on the frequency F and the measured phase shift.

15. The optoelectronic assembly for an optical telemetry system according to claim 1, wherein the system comprises at least one second light source SL.sub.c and at least one second photosensitive sensor CP.sub.c, said at least one second light source SL.sub.c of the followed vehicle being modulated by a clock of frequency controlled by a phase-locked loop driven by the electrical signal delivered by said at least one photosensitive sensor CP.sub.c.

16. A method for measuring the distance between two vehicles wherein the front of each vehicle is equipped with a first optoelectronic assembly formed by at least one first light source SL.sub.s and at least one first photosensitive sensor CP.sub.s oriented towards in front of the vehicle, and in that the back of each vehicle is equipped with a second optoelectronic assembly formed by at least one second light source SL.sub.c and at least one second photosensitive sensor CP.sub.c oriented towards behind the vehicle, said at least one first and second light sources SL.sub.s and SL.sub.c being conventional light sources, the at least one first light source SL.sub.s being modulated by a signal of frequency F.sub.s, said at least one second light source SL.sub.c of a followed vehicle being modulated by a clock of frequency controlled by a phase-locked loop driven by the electrical signal delivered by said at least one photosensitive sensor CP.sub.c, said first optoelectronic assembly further comprising a circuit for measuring the phase shift between the electrical signal delivered by said at least one second photosensitive sensor CP.sub.c and the signal modulating the paired at least one second light source SL.sub.c, said system further comprising a computer for determining the distance depending on the frequency F.sub.s and the measured phase shift.

17. A motor vehicle comprising an optical telemetry system for measuring the distance separating said vehicle from a second vehicle, wherein: a first end of said vehicle comprises a first optoelectronic assembly formed by at least one first light source SL.sub.s and at least one first photosensitive sensor CP.sub.s, oriented in the direction for measuring a third-party vehicle, and a second, opposite, end of said vehicle comprises a second optoelectronic assembly formed by at least one second light source SL.sub.c and at least one second photosensitive sensor CP.sub.c oriented in the direction for measurement by the second vehicle, wherein said first and second light sources SL.sub.s and SL.sub.c are conventional light sources, the first light source SL.sub.s being modulated by a signal of frequency F.sub.s, said second light source SL.sub.c of the second vehicle being modulated by a clock of a frequency controlled by a phase-locked loop driven by the electrical signal delivered by said second photosensitive sensor CP.sub.c, said first optoelectronic assembly furthermore comprising a circuit for measuring the phase shift between the electrical signal delivered by said photosensitive sensor CP.sub.s and the signal modulating the paired light source SL.sub.s, said system furthermore comprising a computer for determining the distance depending on the frequency F.sub.s and the measured phase shift.

18. The motor vehicle according to claim 17, wherein said first end of the vehicle is the front of the vehicle and the second end of the vehicle is the back of the vehicle, the distance being calculated by said vehicle, in relation to the distance separating it from the second vehicle.

19. The motor vehicle according to claim 18, wherein one of said light sources SL is formed by at least one of the vehicle lamps.

20. The motor vehicle according to claim 18, wherein one of said light sources SL is formed by at least one of the vehicle signaling lamps.

21. A motor vehicle comprising an optical telemetry system for measuring the distance separating the motor vehicle from a second vehicle, wherein said vehicle is a followed vehicle and said second vehicle is a following vehicle, said followed vehicle comprising a first, back, end and a second, front, end, said optical telemetry system of the followed vehicle calculating the distance in relation to the distance separating the followed vehicle from the following vehicle; the telemetry system comprising: a first optoelectronic assembly formed by at least one first light source SL.sub.s and at least one first photosensitive sensor CP.sub.s, wherein said at least one first source and at least one first photosensitive sensor are oriented in a first direction of the following vehicle, and a second optoelectronic assembly formed by at least one second light source SL.sub.c and at least one second photosensitive sensor CP.sub.c oriented in the opposite direction of the followed vehicle, wherein said at least one first and second light sources SL.sub.s and SL.sub.c are conventional light sources, the at least one first light source SL.sub.s being modulated by a signal of frequency F.sub.s, said at least one second light source SL.sub.c of the followed vehicle being modulated by a clock of a frequency controlled by a phase-locked loop driven by the electrical signal delivered by said at least one second photosensitive sensor CP.sub.c, said first optoelectronic assembly further comprising a circuit for measuring the phase shift between the electrical signal delivered by said at least one first photosensitive sensor CP.sub.s and the signal modulating the paired at least one first light source SL.sub.s, said system further comprising a computer for determining the distance depending on the frequency F.sub.s and the measured phase shift.

Description

DESCRIPTION OF THE FIGURES

(1) A better understanding of the present invention will emerge from the following detailed description of a non-limiting example, with reference to the accompanying drawings, in which:

(2) FIG. 1 represents a schematic view of an optical telemetry system;

(3) FIG. 2 represents the functional diagram of the optoelectronic assemblies; and

(4) FIGS. 3 and 4 represent the signals measured at different points of the system.

DETAILED DESCRIPTION

(5) General principle of the invention FIG. 1 represents a schematic view of an optical telemetry system. The following vehicle (1) is equipped with a lamp with light emitting diodes (2) emitting a beam (3) in the direction of a followed vehicle (4).

(6) The followed vehicle is equipped with a sensor (5) and a light emitting diode light source (6) emitting a beam (7) in the direction of the following vehicle (1), which is equipped with a sensor (8).

(7) In a first example, the first optoelectronic assembly is formed by a single light source SL.sub.s and one photosensitive sensor CP.sub.s, both oriented towards the front of the vehicle. The second optoelectronic assembly is formed by one light source SL.sub.c (6) and one photosensitive sensor CP.sub.c (5) oriented towards the rear of the vehicle.

(8) The term “a single conventional source” can refer to an LED, for example, or to an array of LEDs forming a headlamp or signaling light.

Functional Diagram of the Optoelectronic Assemblies

(9) The following vehicle (1) is equipped with an optoelectronic assembly comprising an LED light source (2) powered by a driver circuit (10). This driver circuit (10) is controlled by a square-wave signal generator (11) delivering a modulation signal at a frequency of 1 MHz, in the example described. This modulation frequency is preferably between 0.5 and 10 MHz.

(10) The light signal transmitted, when it is received by the sensor (5) of the followed vehicle or target (4), is attenuated and noisy.

(11) The sensor (5) of the followed vehicle or target (4) delivers a noisy electrical signal to a processing circuit (12) comprising a step of amplifying and a step of filtering the signal received, then a step of comparison in order to reconstruct the square-wave signal emitted. This square-wave signal is transmitted to a phase-locked loop (PLL) making it possible to control an oscillator (13), the phase of which is identical to that of the reconstructed signal. The frequency of this oscillator (13) is identical to that of the oscillator (11), or a multiple or sub-multiple of this frequency.

(12) This processing makes it possible to restore a signal having a shape factor close to that of the signal emitted by the light source (2) of the following vehicle, and to eliminate the noise caused by the parasitic light coming from road lighting, ambient light or various reflections that can illuminate the sensor of the followed vehicle.

(13) The re-emitted signal (14, 6) is received by the sensor (8) of the following vehicle (1) then processed by a circuit (15) in order to be reconstructed as a square-wave signal. This reconstructed signal is then transposed at a lower intermediate frequency by a heterodyne mixer circuit (16).

(14) The output of the circuit (16) is used as the input of a microcomputer (17) controlled by an algorithm for measuring the phase shift. The signal emitted in the first place is also transposed to the intermediate frequency in order to be compared, during the phase shift measurement, to the signal received by the following vehicle and heterodyned.

(15) Unlike FMCW or LIDAR/ultrasound-detector radars, the disclosed system describes by way of non-limiting example the use of white light produced by the LED lamps of vehicles, or colored light in the case of light produced by other signaling lamps.

(16) This light is polychromatic and incoherent. Consequently, the wave reflected by the target will be much more attenuated than in the case of a coherent wave, making it impossible for the system to work directly with the reflected wave.

(17) Its principle, summarized in FIG. 3, is as follows: here we have two sensors A and B. Sensor A transmits a sinusoidal signal at frequency f.sub.1. This signal is received by sensor B with a delay t.sub.AB. Sensor B then locks onto the frequency and phase of the signal and, due to a PLL, generates a signal with the same phase shift, but of frequency f.sub.2 proportional to f.sub.1, and then transmits it. This signal may have a delay due to the processing electronics. This new signal is received by sensor A with a delay t.sub.AB that is added to the phase shift already present. Sensor A then locks onto the frequency and phase and can compare the phase of the signal that it transmitted with that of the one onto which it is locked: the phase shift and therefore the distance are thus retrieved.

(18) Once the phase shift has been retrieved, it must be measured in order to find the distance datum. The method used to measure the phase shift is given as an indication.

(19) The method described is based on a clock rising edge counter. The principle of this method is illustrated in FIG. 4. The signal emitted by the system is shown in this Figure as E′.sub.ifm and the signal reflected and received by the system is shown as E′.sub.ifr. It will be noted that these two signals are phase-shifted and that the corresponding phase difference signal is shown as E.sub.ifd. A clock of frequency f.sub.cp significantly higher than the frequency of the emitted signal is then used in an AND logic gate with the signal E.sub.ifd in order to obtain the signal shown on the last line. By counting the number of rising edges of this signal, it is thus possible to measure the width of each high state of the signal Ei.sub.fd and thus to measure the phase shift value.

(20) This approach, however, introduces a compromise: the higher the frequency of the signal emitted, the better the theoretical resolution of the distance measurement. However, for a fixed f.sub.cp frequency, the higher the frequency of the signal emitted, the poorer the resolution of the phase shift measurement by the clock rising edge counter. In order to overcome this problem, a conventional technique involves emitting the signal at a high frequency then transposing the echo received to a lower frequency before processing it, according to the principle of heterodyne processing based on the multiplication of several frequencies combined by a mixer.

Taking the Calculation Time into Account

(21) The processing carried out in order to calculate the distance can take into account, in order to improve the relevance of the calculation, the delay introduced by the processing circuit (12) by de-noising the signal received by the sensor of the followed vehicle, in order to control the signal emitted by the followed vehicle.

(22) This delay can be taken into account in the form of a fixed parameter taken into account in order to calculate the distance. This fixed parameter is determined experimentally or by modeling based on the nominal processing time of the processing circuit (12).

(23) It can also be formed by a variable parameter that can be periodically updated, for example in the event of a change in the processing technologies on the vehicles.

(24) It can also be updated by learning based on other data on the remote measurement of the distance between the following vehicle and the followed vehicle available on the following vehicle, for example geo-tracking data of both vehicles received by the following vehicle, or data coming from other telemetry equipment, for example systems using a laser or sound source.

Variations for Encoding the Signal

(25) The signal controlling the light source of one and/or the other vehicle can also form the object of an encoding to transmit information such as vehicle speed, or an identity or braking information or possibly the date and time, or even information relating to distance, by clock comparison.

(26) This encoding can be a Manchester type encoding, also call biphase encoding or PE (Phase Encoding), introducing a transition in the middle of each interval. It involves implementing an exclusive OR (XOR) between the signal and the clock signal, which translates into a rising edge if the bit is zero and a falling edge if it is not.

(27) It can also be an “encoding of pairs of four-bit values into pairs of six-bit symbols” type encoding, as described for example in European patent EP0629067.

(28) Such a type of encoding is fundamentally different from a pseudo-random encoding described in EP0961134.

(29) The encoded information can for example include information on the activation of braking or acceleration by a vehicle, during platooning, in order to disseminate this information to the other following vehicles.

Variations for Measuring the Lateral Distance

(30) The example of implementation described allows distance in the longitudinal direction to be provided, on the right between the optoelectronic assembly equipping the following vehicle and the optoelectronic assembly equipping the followed vehicle.

(31) It is possible to provide additional information concerning the lateral offset of the two vehicles, for example in order to provide information on preparation for overtaking or switching to another traffic lane.

(32) According to this variation, different combinations can be envisaged:

(33) a) The following vehicle can comprise an optoelectronic assembly formed by one light source SL.sub.s and two photosensitive sensors CP.sub.s, arranged for example on either side at the front of the vehicle, while the followed vehicle, constituting the target, comprises an optoelectronic assembly formed by at least one light source SL.sub.c and one photosensitive sensor CP.sub.c spaced apart.

(34) b) The following vehicle can comprise an optoelectronic assembly formed by two offset light sources SL.sub.s, for example on either side at the front of the vehicle, and two photosensitive sensors CP.sub.s, while the followed vehicle comprises an optoelectronic assembly formed by two light sources SL.sub.c and two photosensitive sensors CP.sub.c spaced apart, for example arranged on either side at the back of the vehicle.

(35) In this case, each of the light sources SL of the following vehicle and the source located on the same side on the followed vehicle is modulated with a specific frequency F.