Journal
SENSORS
Volume 20, Issue 22, Pages -Publisher
MDPI
DOI: 10.3390/s20226676
Keywords
FMCW; LiDAR; FFT; hardware complexity; FPGA; FMCW LiDAR; Digital Down Convert
Funding
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education [2020R1A6A1A03038540]
- MOTIE (Ministry of Trade, Industry and Energy) [10080619]
- KSRC (Korea Semiconductor Research Consortium) support program for the development of the future semiconductor device
- IC Design Education Center (IDEC), Korea
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As the autonomous driving technology develops, research on related sensors is also being actively conducted. One system that is widely used today uses a light source with a wavelength in the 905 nm band for the pulse Light Detection And Ranging (LiDAR) system. This has the disadvantages of being harmful to the human eye and in making digital signal processing difficult at high sampling rates. The Frequency Modulated Continuous Wave (FMCW) LiDAR system has been proposed as an alternative. However, the FMCW LiDAR is formed with a high beat frequency by a method different from that of the FMCW Radar, which causes a hardware burden on the FFT (Fast Fourier Transform) module for interpreting the beat frequency information. In this paper, the FFT module that may occur in the FMCW LiDAR using Digital Down Convert (DDC) technology is extracted at 256 points, which is 25 times smaller than the existing 8192 points, and the beat frequency is 0 to 50 m at 3 cm intervals. As a result of generating and restoring the distance, the performance of 0.03 m Root Mean Square Error (RMSE) compared to the conventional one was confirmed. In this process, the hardware module was directly mounted and verified on the FPGA. In the case of the Simple Threshold-Constant False Alarm Rate (ST-CFAR) provided, the RMSE was measured by generating beat frequencies from 0 to 50 m at 1 cm intervals, and as a result, the result of 0.019 m was confirmed at 0.03 m in the past.
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