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 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.

中文翻译：

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MCW LiDAR系统可降低硬件复杂性，并提供后处理技术以提高距离分辨率

随着自动驾驶技术的发展，有关传感器的研究也在积极进行。今天广泛使用的一种系统将波长为905 nm的光源用于脉冲光检测与测距（LiDAR）系统。这样的缺点是对人眼有害，并且使高采样率下的数字信号处理变得困难。已经提出了调频连续波（FMCW）LiDAR系统作为替代方案。然而，通过与FMCW雷达不同的方法，以高拍频形成FMCW激光雷达，这给用于解释拍频信息的FFT（快速傅立叶变换）模块造成了硬件负担。在本文中，使用数字下变频（DDC）技术在FMCW LiDAR中可能出现的FFT模块以256个点被提取，这比现有的8192个点小几倍，拍频为3 cm间隔为0至50 m。作为产生和恢复距离的结果，证实了与传统方法相比具有0.03 m均方根误差（RMSE）的性能。在此过程中，直接在FPGA上安装并验证了硬件模块。在提供简单阈值恒定误报率（ST-CFAR）的情况下，RMSE是通过以1 cm的间隔生成从0到50 m的拍频来测量的，结果确认为0.019 m过去的0.03 m。作为产生和恢复距离的结果，证实了与传统方法相比具有0.03 m均方根误差（RMSE）的性能。在此过程中，将硬件模块直接安装在FPGA上并进行了验证。在提供简单阈值恒定误报率（ST-CFAR）的情况下，RMSE是通过以1 cm的间隔生成从0到50 m的拍频来测量的，结果确认了0.019 m的结果过去的0.03 m。作为产生和恢复距离的结果，与传统方法相比，确认了0.03 m均方根误差（RMSE）的性能。在此过程中，将硬件模块直接安装在FPGA上并进行了验证。在提供简单阈值恒定误报率（ST-CFAR）的情况下，RMSE是通过以1 cm的间隔生成从0到50 m的拍频来测量的，结果确认为0.019 m过去的0.03 m。