Fig. 27: Acquisition Settings Dialog Box; Table 21: Acquisition Settings - Leddar T16 User Manual

Solid-state lidar traffic sensor

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User manual (109 pages)

Table Of Contents

Table of Contents

Parameter

Inter-channel interference noise mitigation

Crosstalk is a phenomenon inherent to all multiple-segment time-

of-flight modules. It causes a degradation of the distance meas-

urement accuracy of an object when one or more objects with

Crosstalk removal

significantly higher reflectivity are detected in other segments at a

similar distance.

This option enables an algorithm to compensate for the degrada-

tion due to crosstalk. This algorithm increases the computational

load of the module microcontroller.

Objects in the sensor field of detection create a signature in the

full-waveform signal called "pulses." The pulse detector analyzes

the full-waveform signal to recognize these pulses and compute

their distance. By nature, time-of-flight sensor using full-waveform

analysis can detect several distinct objects with a single

photodiode element.

Pulse width

compensation

The detected pulses have specific amplitudes based on their

distance from the sensor and on the reflectivity of the objects. It is

well known that pulses of small amplitudes do not lead to accurate

and precise distance measurements. Consequently, the algorithm

removes all pulses with amplitudes under a given threshold. This

threshold depends on the acquisition settings of the sensor.

When selected, this parameter improves the detection of false

Overshoot man-

measurements caused by specific signal shapes. For example,

agement

this may occur when strongly reflecting objects are present in the

field of view.

When selected, this parameter activates the advanced distance

computation algorithm for very strong (saturated) signals. This

computation uses slightly more computing power to enhance the

quality of the distance measurements of saturated light pulses.

Saturation com-

The algorithm classifies the detected pulses based on their shape.

pensation

The sensor determines which pulses are saturated and which

have a normal shape. Saturated pulse occurs when the signal

backscattered by the object is so strong that the full-waveform

signal is clipped. If not treated, this phenomenon creates an

important degradation of the distance measurement accuracy.

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