Leddar™ Pixell 3D Flash LiDAR USER GUIDE TF ID 019078
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© 2021 LeddarTech Inc. All rights reserved. The information contained herein is the property of the Company and shall not be reproduced in whole or in part without the prior written approval of the Company. Leddar, LeddarTech, LeddarSteer, LeddarEngine, LeddarVision, LeddarSP, LeddarCore, VAYADrive, VayaVision, and related logos are trademarks or registered trademarks of LeddarTech Inc.
DISCLAIMER LeddarTech® shall not be liable for any errors or omissions herein or for any damages arising out of or related to this document or the information contained herein, even if LeddarTech has been advised of the possibility of such damages. Descriptions of products, including, but not limited to, specifications and drawings, and other related information contained in this document, are provided only to illustrate their operation and application examples.
Table of Contents 1. LABEL EXPLANATION AND SAFETY INFORMATION ............................................................... 16 1.1. LABELS........................................................................................................................................... 16 1.2. REGULATORY COMPLIANCE ............................................................................................................. 16 2. DEFINITIONS ....................................................................
7. ELECTRONIC INTEGRATION ........................................................................................................ 47 7.1. SYNCHRONIZING THE SENSORS ....................................................................................................... 47 7.1.1. GPS Pulse-per-Second Signal Input ..................................................................................... 47 7.1.2. PTP Precision Time Protocol Signal Input ........................................................
10.8.1. User Guide ............................................................................................................................ 83 10.8.2. About ..................................................................................................................................... 83 11. PARTS AND ACCESSORIES ......................................................................................................... 84 12. TROUBLESHOOTING ........................................................
Table of Figures Fig. 1: Saturation ........................................................................................................................................... 17 Fig. 2: Optical crosstalk ................................................................................................................................. 17 Fig. 3: Electrical crosstalk ............................................................................................................................. 18 Fig.
Fig. 36: TE Connectivity AMP connector – Automotive connector PLG 08POS F/H BLK............................ 48 Fig. 37: Automotive connector pin positions ................................................................................................. 48 Fig. 38: TE Connectivity AMP connector – 8 position AMPSEAL strain relief .............................................. 49 Fig. 39: Cable tie .................................................................................................................
Fig. 73: Change adapter settings .................................................................................................................. 92 Fig. 74: Ethernet network option ................................................................................................................... 92 Fig. 75: Ethernet Properties window ............................................................................................................. 93 Fig. 76: IP address and Subnet mask fields .................
List of Tables Table 1: Explanation of labels on the sensor ................................................................................................ 16 Table 2: Regulatory compliance information ................................................................................................. 16 Table 3: Definitions .......................................................................................................................................
Table 36: Identification server requests ...................................................................................................... 105 Table 37: Configuration server requests ..................................................................................................... 106 Table 38: Data server requests ................................................................................................................... 108 Table 39: Constant definitions ....................................
Version History Version Description Date (YYYY-MM-DD) 54A0049_5.0_EN • Updated Disclaimer information • Replaced “accuracy” with “trueness” throughout the document • Corrected 6 dead cross-references throughout the document • Section 3.3: added Table 6 • Section 4.3.4: added GET_CALIB command • Section 5.1: added demerging specifications • Section 5.3: changed PPS input voltage in Table 14 • Section 7.1.3: added External Trigger feature • Section 7.3.
Contact Information LeddarTech Inc. Head Office Address Production & Shipping 4535, boulevard Wilfrid-Hamel, Suite 240 4535, boulevard Wilfrid-Hamel, Suite 140 Québec (Québec) G1P 2J7, Canada Québec (Québec) G1P 2J7, Canada + 1-418-653-9000 Phone 1-855-865-9900 8:30 a.m. – 5:00 p.m. EST Fax + 1-418-653-9099 Support support@leddartech.com Website www.leddartech.com 14 | 127 © 2021 LeddarTech Inc.
Document Conventions This document uses the following conventions: Name of menu > name of the window Arial bold Shows the access path to menus under each section of Leddar™ Configurator. The names of buttons, menus, dialog boxes, icons, and elements of the interface are in bold type. Note: Contains helpful suggestions and references to information included within this User Guide. Warning: Refers to a warning or important information to follow. This document uses the metric system (SI). 54A0049_7.
1. Label Explanation and Safety Information 1.1. Labels Table 1: Explanation of labels on the sensor Label Location Back of sensor Bottom of sensor Back of sensor 1.2.
2. Definitions Table 3: Definitions Term 3D flash Definition 3D flash is a type of LiDAR technology used by LeddarTech to provide detections in a 3D environment. The first two dimensions are the relative positions of the segments in the frame (row/line and column). The third dimension is the distance of the detection(s). LeddarTech’s LiDAR technology creates optimal illumination of the field of view of a target, which is then captured in segments by the sensor detector arrays. See section 3.
Term Definition Fig. 3: Electrical crosstalk Detection A detection, also called “echo,” is defined by distance, amplitude, channel index, timestamp, and flag. Distance Distance to an object measured in the segment (in meters) from the reference point. Range: 0 to Instrumented Range. Flag Information relative to detection quality (bit field). FoV Field of view GPS In autonomous navigation systems, the GPS provides a clock signal that can be used to synchronize various systems.
2.1. Optical Crosstalk Lens flare, diffusion, and reflections may cause undesired signals, which are commonly referred to as optical crosstalk. To resolve this issue, LeddarSP uses a method that is based on a deconvolution process to reverse these effects. The platform approach has been adopted in LeddarSP, and two chosen methods have been carefully implemented.
E D C • • • • • E C B B A D E D B B B B A A B B B B B B C D A D B C One horizontal High segment reflector One vertical segment A: Worst crosstalk effects for extremely high reflector: False positives +/- 1 segment H+V B: Removal of false positives generated by crosstalk, very limited detection capability, possible false negatives with improvement away from affected segment both in distance, vertically and laterally C: Removal of false positives up to end detectors for the head seeing the reflector,
Fig. 5: Detection count vs. distance 54A0049_7.
3. Introduction 3.1. Underlying Principles and LiDAR Fundamentals Created by LeddarTech, Leddar™ is a unique sensing technology based on laser illumination (infrared spectrum) and the principle of a light’s time of flight. The laser emitters illuminate the area of interest. The multichannel sensor receiver collects the back-scattered light and measures the time taken for the light to return to the sensor. A photodetector array is used and provides multiple detection and ranging segments.
3.3. Accuracy and Precision Based on Radar Equation The LIDAR operates using the same detection fundamentals as conventional radars; the precision of the distance measurement depends on how strong the receiving signal is. A stronger signal will lead to a better noise ratio at the peak detector, which is directly linked to the precision of the detection. The Leddar Pixell follows a typical radar equation that links the precision with the amplitude counts of the detection.
Fig. 8: Accuracy at very low-amplitude counts Accuracy is defined as the average distance if several measurements are repeated. The accuracy specification is defined for the detection regime selected by design: SNR 9.8 dB, >90% probability of detection, and 0.0001 false alarm rate. For very low counts, the detection distance stays within the precision specification; however, the accuracy is lower because the probability of detection falls below 90%, and the peak detector has a more random behavior.
4. Intended Use and Description This User Guide is intended for developers and integrators. This document provides information about the Leddar Pixell 3D flash LiDAR sensor (hereafter referred to as “the sensor” or “Leddar Pixell”). 3D flash technology provides detections in a 3D environment. Using the latest 3D flash LiDAR technology, the Pixell provides more scene coverage than most scanning LiDARs, which drastically reduces dead zones.
Submodule 1 (right*) * As seen from rear of sensor Submodule 2 (center) Horizontal segment 96 Submodule 3 (left) Horizontal segment 1 Fig. 9: Right, center, and left submodules Heatsink Mounting threads Receiver windows (3 x) Emitter windows (3 x) Fig. 10: Front view 26 | 127 © 2021 LeddarTech Inc.
Fig. 11: Rear view 4.2. Reference Point and Coordinates The distance is measured from the reference point (point zero). For the left-right orientation, the reference point is located 123 mm from the sides, as seen in Fig. 12 below. Fig. 12: Reference point (top view) 54A0049_7.
For the top-bottom orientation, the reference point is located 1 mm above the center of the mounting hole and, from there, at 7 mm inwards of the sensor, as seen in Fig. 13 below. Fig. 13: Reference point (right side view) See Appendix E on page 123 for information on converting the Leddar Pixell flash LiDAR sensor’s angular data and distance reporting. 4.3. Emission Concept This section provides information about the emission concept of the Leddar Pixell.
Leddar Pixell offers minimal dead zones, as seen in Fig. 15 below. This hardware configuration reduces the possibility of missing an object, as there is only a 6-cm width between the sensor windows. The width progressively reduces to completely disappear after 1 m. Dead-zone distance 1 m (typical) Fig. 15: Emission minimal dead zone Depending on the distance, the overlap in the horizontal FoV varies from no overlap to up to 2 segments at long distance. This is valid for each side. 54A0049_7.
Fig. 16: Horizontal overlap at 7 m and <1 m Fig. 17: Vertical emission coverage at a short distance The Leddar Pixell uses a bi-static optical design. The spacing between the transmitter window and the receiver window (Fig. 18) creates a variable vertical overlap at close range, as shown in Fig. 17. The receiver has a single wide FoV depicted in orange in Fig. 17. The emitting section consists of 8 laser lines covering the entire horizontal FoV; however, each line scans a portion of the vertical FoV.
Table 6: Usable segments vs. distance at close range Distance Usable Segments 25 cm 0-383 (4 lines out of 8) 50 cm 0-575 (6 lines out of 8) 100 cm 0-767 (complete FoV) RX-TX separation Fig. 18: Distance between two zones The Leddar Pixell is a fusion of three laser heads; each covers approximately 60° for a total of 180°. The field width and the central angular position of each head can be read from the sensor. The positive central angle can be found in the left quadrant. Zero is at the center.
The segments overlap to minimize the dead zone between each sub-FoV, as seen in Fig. 20 below. Fig. 20: Emission profile overlapping the FoV 4.3.1. Illumination Pattern LeddarTech flash technology illuminates a wider area than other LiDAR technologies. The result is a minimal gap between vertical lines that typically measures around 0.7°. Fig. 21 illustrates the distance in degrees between two segment centers. Fig. 21: Vertical FoV illumination pattern 32 | 127 © 2021 LeddarTech Inc.
4.3.2. Impact of Range in Vertical Gap Because the gap between the laser lines expands in propagation with distance, there is a complex interaction for a particular size target and reflectivity and the maximum range up to where this target is detectable. Fig. 22 below shows how the amplitude of the return signal is affected for this target if aligned to the center or between two vertical lines.
Table 7: Channel indexes H Segment 1 H Segment 2 … H Segment 95 H Segment 96 V Segment 1 0 1 … 94 95 V Segment 2 96 97 … 190 191 V Segment 3 192 193 … 286 287 V Segment 4 288 289 … 382 383 V Segment 5 384 385 … 478 479 V Segment 6 480 481 … 574 575 V Segment 7 576 577 … 670 671 V Segment 8 672 673 … 766 767 Total horizontal FoV Fig.
4.4. Sensor Alert System 4.4.1. Overview The Leddar Pixell uses an alert system to notify you of potential problems and misuse of the sensor, along with other information about its status. The alert system is accessible through both the Leddar Configurator software and the communication protocol.
4.4.3. Access to Leddar Configurator In the Leddar Configurator software, current active alerts can be found in View > State, next to Sensor status: at the bottom of the window. Fig. 24: Sensor status in Leddar Configurator If the status is OK, there are no currently active alerts and the sensor is currently in normal operation mode. If the status is Notify, Warning, or Critical, one or more alerts are currently active. The number is displayed before the status name.
4.4.4. Access to the Communication Protocol The communication protocol allows you to fetch the currently active alerts from the sensor. To do so, the CFG_REQUEST_UPDATE request (code 0x0008, see section “Configuration Server Requests” in Appendix D “Communication Protocol”) must be made to the configuration server. See Table 43 on page 110 for the definition of the alert structure. 4.5. Sensor Operation Overview The sensor firmware operates following an internal state machine.
A transition graph of the Leddar Pixell state machine is illustrated below. Fig. 26: Safe mode functionality 38 | 127 © 2021 LeddarTech Inc.
5. Specifications 5.1. General Characteristics Table 9: Characteristics1, 2 Description Value Number of segments (H x V) 96 x 8 Horizontal FoV 177.5° Vertical FoV 16° Angular resolution (horizontal) 1.9° Angular resolution (vertical) 2.0° Wavelength (nominal) 905 nm Frame rate 20 Hz 1, 3 Accuracy ±3 cm Demerging accuracy4 Demerging precision ±10 cm 4 8 cm Automotive connector Mating cycle: 10 See section 7.2 on page 48 for more details.
5.1.2. Test Conditions Table 11: Test conditions Test Condition Detection Range Pedestrian 18% reflectivity7 50 cm x 180 cm target ≥24 m At the center of each 59.16° section of the horizontal FoV ≥20 m Everywhere else in the 59.16° section of the horizontal FoV Vehicle 10% reflectivity7 180 cm x 140 cm target ≥19.2 m At the center of each 59.16° section of the horizontal FoV ≥15.4 m Everywhere else in the 59.
Fig. 27: Dimensions (top view) Fig. 28: Dimensions (rear view) 54A0049_7.
Fig. 29: Dimensions (front view) Fig. 30: Dimensions (left side view) 4 x M6 x 1.0 x 15.00 Fig. 31: Measurements and distance between mounting threads (right side view) 42 | 127 © 2021 LeddarTech Inc.
5.3. Electrical Specifications Table 13: Electrical specifications Description Value 11 V to 52 V Power supply Absolute minimum rating: 11.5 V Power consumption 20 W9 PPS input voltage Logic 0: <1.2 V; logic 1: 3 V to 12 V (nominal: 5 V) PPS frequency range 0 Hz to 10 Hz for time synchronization PPS minimum pulse width 400 ns 5.4.
5.6. Bandwidth Table 16: Bandwidth required for communication between sensor and network 10 Worst-Case Scenario 768 x 3 = 2304 detections 10 Bytes per Frame (Decomposed in Data Elements) Header 16 Timestamp 12 Frame ID 16 Timestamp 32 bits 12 Timestamp 64 bits 16 Echoes sent 16 Distances 9224 Channel index 4616 Amplitude 9224 Flags 4616 Status 9 Total 27 777 Frame Rate (FPS) At 20 FPS you need 27 777 x 20 = 555 540 bytes per second of bandwidth.
6. Mechanical Integration This section provides recommendations for the mechanical integration of the Leddar Pixell. See section 5.2 on page 40 for mounting information and section 7 on page 47 for information on connecting the sensor. It is strongly recommended not to install the sensor behind a window in order to maintain performance. As seen in Fig. 32 and Fig. 33 on next page, when installing the sensor, leave a minimum clearance of 8 mm on the top, sides, and bottom of the sensor.
No interference No interference 7 500 mm2 minimum opening Fig. 33: Clearance size (top view) Fig. 33 shows the minimum opening recommended at the back of the sensor to evacuate heat properly. A = 7 500 mm2 minimum opening Fig. 34: Clearance size (rear view) Make sure to leave enough space for the connectors. 46 | 127 © 2021 LeddarTech Inc.
7. Electronic Integration 7.1. Synchronizing the Sensors Integrators can synchronize the clock for all the different sensors in the system to increase the perception’s accuracy. Two functionalities have been implemented: PPS and PTP. 7.1.1. GPS Pulse-per-Second Signal Input GPSs used in autonomous navigation systems will provide a clock signal that can be employed to synchronize various systems together. The sensor must accept a “Pulse PPS” signal input and use it as a time reference.
7.2. Power Connector Pinout and Wiring Table 17: Cable connection Pin # Function 1 Ground 2 ETH+ 3 ETH- 4 PPS- (Input) 5 PPS+ (Input) 6 V+ (11 V-52 V) 7 Sync+ (Out) 8 Sync- (Out) Description Power supply ground Automotive Ethernet differential pair Input for timestamp synchronization. Can be used as a trigger input.
Fig. 38: TE Connectivity AMP connector – 8 position AMPSEAL strain relief (2 strain relief connectors required) Fig. 39: Cable tie The parts and accessories shown above are recommended by LeddarTech to ensure compatibility with the Leddar Pixell connector interface. LeddarTech does not offer these parts and accessories. Contact the appropriate vendors to obtain the parts you need. Once assembled, the connector will look as shown below. Fig. 40: Connector assembled 7.3.
7.3.1. One Sensor With the Starter Kit Fig. 41: One-sensor connection You can now start using Leddar Configurator. See section 9 on page 54 and section 10 on page 56 for details. See section 11 on page 84 for more information on parts and accessories. 50 | 127 © 2021 LeddarTech Inc.
7.3.2. Multiple Sensors With Automotive Ethernet Here is an example of a multiple-sensor integration. The automotive Ethernet standard is point-to-point. The physical layer is a twisted pair cable. If you do not have an ECU directly compatible with automotive Ethernet, use converters or a switch that features both standard and automotive Ethernet. Fig. 42: Multiple-sensor connections You can now start using Leddar Configurator. See section 9 on page 54 and section 10 on page 56 for details.
8. Software Integration There are three ways of integrating LeddarTech’s LiDAR sensors within your applications: 1. Developers can build their complete applications from the ground up, based on the low-level communication protocol definition. Refer to Appendix D on page 99 for more details on the communication protocol used with the Leddar Pixell. 2. Use the Leddar SDK to accelerate your software integration and reduce the lead time associated with entirely building your application from the ground up.
8.4. FibreCode Stick Developed by FibreCode Embedded Solutions, the FC602 USB OABR stick represents a compact hardware interface that connects MS Windows- and Linux-based PCs with automotive Ethernet network devices and switches. Automotive Ethernet network standards OABR (OPEN Alliance BroadR-Reach) and 100Base-T1 are supported. The FC602 USB OABR stick functions as a seamless media converter between a standard USB 2.0 interface and an automotive Ethernet network.
9. Installing Leddar Configurator 1. Download LeddarInstall.exe via the provided link. Contact LeddarTech at support@leddartech.com if you did not receive the link. 2. Double-click the file to start the installation. 3. If the Windows Security dialog box opens, click the Install button to accept the installation of the drivers from LeddarTech during the process. Fig. 43: Windows Security dialog box 4. Follow the steps in the Welcome to the Leddar™ Configuration Software Setup Wizard.
If the window above is not displayed, see Appendix A on page 90. 4. In the Connection window, under Select a connection type, select LeddarAuto. The first time the sensor is connected to a computer, a few seconds are required for Windows to detect it and complete the installation. 5. a) If the sensor is automatically detected, select the available sensor from the list. b) Otherwise, enter the IP address 192.168.0.2 and Port number 48630. 6. Click Connect to connect to the available sensor.
10. Leddar Configurator Software The software allows you to view the detection measurements provided by the connected sensor. The detections may vary based on the configuration of the parameters. The Leddar Configurator software does not display detections flagged as “invalid.” The main window can be resized manually or set to full-screen view.
10.1. Main Window Once connected to the sensor, the main window of Leddar Configurator displays the following menus, toolbar, and default 3D view. See their descriptions in the sections below. Menu bar Toolbar Display Parameters icon Fig.
Menu Device View Settings Help Description Click Device to access the following menu options: Device > Disconnect Device > Configuration > Device Name… Device > Configuration > Acquisition Device > Configuration > Network Device > Action > Reset to factory default configuration Device > Action > Update Device > Debug See section 10.5 on page 71 for more details.
Icon Description Click Zoom out to zoom out the display. Under the display view, click the three arrows up to see the Display Parameters section. Click the three arrows down to hide the Display Parameters section. 10.2. 3D Viewer and Parameters Upon opening the Leddar Configurator software, the 3D view is displayed by default. This option allows you to view the scene in a 3D environment. A colored segment represents each detection. The 3D view is configurable. See below for more details.
Fig. 49: 3D Viewer window and parameters See below for the description of the 3D Viewer window parameters section by section. 60 | 127 © 2021 LeddarTech Inc.
Fig. 50: 3D Viewer parameters Click to hide the Display Parameters section. Table 20: 3D Viewer parameters Parameter/Feature Description This section allows you to select the points shape to display the detection scene, including the detected object. You can choose to view the scene with points, planes, or cubes. Points Shape • Points refer to the same size points as appearing in the 3D view. • Planes refer to square-shaped filled segments that change depending on the distance.
Parameter/Feature Description Range/Value This section allows you to change various parameters related to the color map: • Amplitude • Distance Color Options • Minimum color (Min Color) Varies • Maximum color (Max Color) • Amplitude display limits • Distance display limits • Log scale Amplitude Distance Min Color Max Color Amplitude Display Limits Distance Display Limits Log Scale Select the Amplitude or Distance option depending on the way you want to view the detections.
Parameter/Feature Description Range/Value Display Axis Select this option to view the axis. Varies Display FoV Select this option to view the FoV. N/A Select one of these options to invert the desired axis. N/A Select these options to swap the X, Y, or Z axis ordinates. The coordinates will be rearranged according to the selected option. N/A Invert X Invert Y Invert Z Swap X Y Swap X Z Swap Y Z Click Freeze to view a static display of the scene.
10.3. Changing the View and Orientation 10.3.1. Display Settings A variety of options are available to adjust the signal display. The Reset Camera icon ( ) allows you to change the type of view of the signal display. Clicking the Reset Camera icon moves you through the three available 3D views: Bird’s-eye view, Front view, and Top view. Fig. 51: 3D views (Bird’s-eye, Front, and Top views, respectively) 64 | 127 © 2021 LeddarTech Inc.
You can view, move, and zoom the main window display in different ways according to the mouse cursor position. You can move up, down, and sideways by clicking and dragging the display. Use the mouse cursor to point somewhere in the view; click and drag it to the desired position. Moving the mouse to change the position Moving the mouse to change the orientation Fig. 52: Signal display position and rotation Changing the position and orientation helps you match the physical installation of the sensor.
10.4. File Menu Table 21: File menu options Option Description Save Configuration This option allows you to save the configuration for a specific device to a file (.lto) from the Save as… dialog box. This allows you to save settings and restore them in case of a system failure or to revert to earlier settings. In addition, if you have more than one sensor and you want to use the same configuration for all of them, save the configuration you want to use for all your sensors.
10.4.1. Recordings (.ltl File) Detection records provide playback of detections recorded by a device. This visual information can be useful for verification, troubleshooting, or training purposes. Detection records provide a full data playback stored in an .ltl file that you can later reload and replay. 10.4.1.1. Setting up Recording Settings Under Settings > Preferences > Recording, select Recorder. 1. Select a directory. 2. Specify a Maximum file size (minimum 1 MB and maximum 500 MB). 3.
A pop-up window appears where you can select the starting and ending lines for the recording. The selection ranges from 1 to 8. If you want to record one line only, Line 4, for example, select “4” in the Starting Line and Ending Line fields, respectively. Fig. 54: Recording Starting and Ending Lines 3. Click Record to record a scene. A counter starts at the bottom left of the main window next to the name of the sensor. To stop recording the detection scene, select Stop Recording in the File menu. 10.4.1.3.
Table 22: Record Replay window Button/Feature Description Click Browse… to select the record file of the scene that you want to view again. Once selected, the name of the file will appear next to the Browse… button. Click the Play button to start the recording. Click the Stop button to end the recording. Click the Previous or Next button to move either to the previous or to the next frame. Position Move the Position slider to go to the desired position in the recorded file.
3. Click to extract and save that file segment. If you want to specify a different speed for the playback, enter the desired playback speed percentage or use the arrows up and down to specify the right percentage. 4. Click . Fig. 57: Extracted segment example 10.4.2. Data Logging (.txt File) 10.4.2.1. Setting Up Data Logging When selecting this option, a counter will start at the bottom left of the main window next to the name of the sensor. To set up data logging file and launch data logging: 1.
The recording’s filename will be the device name followed by the date and time of the recording. You can change the name of the file by changing the device name (see section 10.5.1 on page 72) or after the recording. To stop data logging: In the File menu, select Stop Data Logging. 10.4.2.2. Starting and Stopping Data Logging To access this function, click File > Start Data Logging. The Data Logging function allows you to output the data to a .txt file automatically.
Option Description Device > Configuration > Network Device > Action > Reset to factory default configuration Device > Action > Update 10.5.1. Select this option to access and modify the network configuration. See section 10.5.3 on page 73 for more details. This action resets all settings to the factory default configuration. Select this option to update the Leddar Configurator firmware. See “Firmware Update” on page 76 for more details.
10.5.2. Demerging To access this function, click Device > Configuration > Acquisition > Algo. The Leddar Pixell integrates an algorithm that allows you to demerge pulses of operation distances higher than 0.8 meter (will vary with amplitude and pulse ratio). The Leddar Pixell pulse demerging algorithm supports the demerging of 70 to 150 pixels in one frame with minimal effect on frame rate. The number of pixels corresponds to a scene comprised of merged objects covering 20% of the total FoV.
Fig. 61: Network Configuration window A warning message will appear in the main window after changing parameters. Click the toolbar to confirm the changes. in Table 24: Network Configuration window Parameter Description Static IP No factory reset is possible if you lose or forget the static IP address. TCP Transmission Control Protocol (data server only) UDP User Datagram Protocol (data server only) 10.6.
10.6.1. Serial Port Viewer To access this function, click View > Serial Port Viewer. When no serial port is available, the window remains empty, as shown below. This feature is not available with this version. Fig. 62: Serial Port Viewer window 10.6.2. Device State To access this function, click View > State. This window allows you to view information about the state of the sensor. Fig. 63: Device State window 54A0049_7.
The Measurement Rate in red indicates a significant difference between the optimum and current measurement rates. Table 26: Device State information • Temperature • Hardware part number • Serial number • Software part number • Software version • Group ID number • FPGA version • Sensor status12 • Timers (operating time) • CPU load • Measurement rate Firmware Update To access this function, click Device > Update. The Code Update window allows you to update the software from an .
Firmware version information Fig. 65: Device State window If you encounter any problem or if you have questions or concerns, contact LeddarTech support at support@leddartech.com. 54A0049_7.
10.6.3. Raw Detections To access this function, click View > Raw Detections. This window allows you to view detection values. It also provides filters to isolate segments and detection parameters. An object crossing the beam of the sensor is detected and measured. This detection is qualified by its segment position, distance, and amplitude. The quantity of light reflected to the sensor by the object generates the amplitude. The bigger the reflection is, the higher the amplitude will be. Fig.
Table 27: Raw Detections parameters Parameter Min Amplitude Max Amplitude Min Distance Max Distance Description Range The value entered in the Min Amplitude box shows only detections of amplitude higher than or equal to that value. The value entered in the Max Amplitude box will show only detections of amplitude lower than or equal to that value. The maximum amplitude is 262 143 counts by default upon first use. Setting a value in both fields will result in a range of amplitude to display.
Flag Description The following table allows you to know the status of the sensor. Table 28: Flag value description Bit Position Flag ID Description 0 Measurement status 0 = Invalid measurement 1 = Valid measurement 1 PULSE_MULTOBJ 0 = Normal measurement 1 = Measurement is the result of demerge processing (see 10.5.2 on page 73).
10.6.4. 2D Matrix Viewer and Parameters To access this function, click View > 2D Matrix Viewer. This option allows you to view the scene in a 2D environment. A colored segment represents each detection. The 2D Matrix Viewer is configurable and can be used simultaneously as the 3D Viewer feature.
Table 29: 2D Matrix Viewer parameters Parameter Description Range HFoV Horizontal FoV information Varies VFoV Vertical FoV information Varies Width Height Width and height of the FoV at the maximum theoretical range Varies Click Freeze to view a static display of the scene. N/A Invert Horizontal To invert the data on a different axis, select the Invert Horizontal Invert Vertical or Invert Vertical option. N/A Rotate Select this option to rotate the image horizontally or vertically.
Table 30: Preferences window options and settings Option Description Select Windows to: Windows • restore the window position and size upon startup • restore the window layout upon connection Select the distance unit: • Meter • Foot Units Select the temperature unit: • Celsius • Fahrenheit • Kelvin Recorder See section 10.4.1.1 on page 67 for details. Data Logger See section 10.4.2.1 on page 70 for details. 10.7.2. License Manager Do not delete or modify the content of the License Manager window.
11. Parts and Accessories Part/Accessory Part Number Qty PIXELL-3D-F-A2 1x Description Leddar Pixell 3D flash LiDAR The Starter Kit socket compatibility is as follows. Refer to the table below for more parts and accessories.
Part or Accessory Part Number Qty Description 73A0019-1 1x Compact hardware interface connecting MS-Windows and Linux-based PCs with automotive Ethernet network devices and switches Windows driver: Broadway2 Windows Software Package Linux driver: Broadway2 Linux Software Package 36D0199 1x Automotive Ethernet to USB converter13 Mounting bracket13 Installation bracket and screws (4 x M6 x 1.0 ↧ 15.
12. Troubleshooting Problem Required Action • Verify that your computer is configured with a static IP address. Ethernet connection not available Sensor not detected in Leddar Configurator • If the cabling connection seems secure, verify that the Ethernet link between the control computer and the sensor is valid using the ping command. • Verify the power supply of the sensor. • Disconnect from Leddar Configurator, then reconnect. • Power cycle the sensor.
13. Maintenance Maintenance must be performed by a qualified maintenance technician without the need to recalibrate or dismantle the sensor from the vehicle. Disconnect the sensor to prevent unintended exposure to the laser beam. Manipulation Avoid touching the optical surfaces as fingerprints can permanently damage the optical coatings. • Blow off dust using compressed air. Cleaning the windows • Clean the windows with a soft cloth and mild soap. Do not pressure wash the sensor.
14. Disposal 14.1. Product Contents Qty Description 1x Leddar Pixell 3D flash LiDAR 1x Power supply 1x Communication cable 14.2. Product Materials Material Description Plastic Top cover, lens holder Metal Back of the sensor and heat sink, screws, and lens holder Wire components Glass PCB components 14.3. USB cable Optical lens, receiver, and emitter windows Printed circuit boards inside the sensor Disassembly Instructions 1. Remove all the screws on the back of the product. 2.
15. Technical Support For technical enquiries, contact LeddarTech technical support at support@leddartech.com to easily: • follow up on your requests • find quick answers to questions • get valuable updates Also, see the contact information at the end of this document. Please have all relevant information such as part numbers, serial numbers, and pictures to facilitate support. 54A0049_7.
Appendix A. Configuring the Windows Firewall for Leddar Configuration 1. Open the Control Panel window and select Windows Defender Firewall > Advanced settings. Fig. 70: Windows Defender Firewall window 2. Select Inbound Rules, then double-click the LeddarHost Application line that blocks the UDP protocol. Fig. 71: Inbound Rules window 90 | 127 © 2021 LeddarTech Inc.
3. In the Action section, select Allow the connection option, then click OK to confirm. Fig. 72: LeddarHost Application Properties window 54A0049_7.
Appendix B. Static IP Configuration With Windows 7 and Up Configuring the Network Static IP You will be disconnected from the Internet if you are not connected via other means. 1. In Control Panel > Network and Internet > Network and Sharing Center, select Change adapter settings. Fig. 73: Change adapter settings 2. In the Network Connections window, double-click Ethernet. Fig. 74: Ethernet network option 92 | 127 © 2021 LeddarTech Inc.
3. In the Ethernet Properties window, select Internet Protocol Version 4 (TCP/IPv4), then click Properties. Fig. 75: Ethernet Properties window 4. Select Use the following IP address: and enter an IP address different from the sensor (for example, 192.168.000.100) in the IP address: field. 5. Enter the same subnet mask as the sensor (255.255.255.0 by default) in the Subnet mask: field. Fig. 76: IP address and Subnet mask fields 54A0049_7.
Appendix C. FibreCode Driver Installation Procedure Install the Broadway Network Driver provided by LeddarTech. Once the Wizard is open, follow the steps below to perform the installation. 1. Click Next. 2. Select the destination folder and click Install. 94 | 127 © 2021 LeddarTech Inc.
3. Once the installation of FibreCode is completed, click Next. 4. Click Finish. 54A0049_7.
5. After the driver has been installed, click Yes to connect the device later. Verify that the driver is installed. 6. Open the Control Panel window and select Network and Internet > Network and Sharing Center, then Change adapter settings. 7. In the Network Connections windows, FibreCode FC602 Stick must be visible, as shown below. 96 | 127 © 2021 LeddarTech Inc.
If you do not see the FibreCode driver’s connection, right-click a connection and select Properties as explained below. 1. Select Internet Protocol Version 4 (TCP/IPv4) and click Properties. 2. Select Use the following IP address: and enter an IP address different from the sensor (for example, 192.168.000.100) in the IP address: field. 3. Enter the same subnet mask as the sensor (255.255.255.0 by default) in the Subnet mask: field. 54A0049_7.
4. Click OK. Verify if the connection is working by using the Command Prompt (cmd): If the ping command does not work: a. Disconnect and reconnect the FibreCode USB stick, or b. Reboot Windows. 98 | 127 © 2021 LeddarTech Inc.
Appendix D. Communication Protocol Introduction This section presents the Leddar™ Ipv4 communication protocol used with the Leddar Pixell 3D flash LiDAR sensor. The protocol defines a set of communication rules that provide flexibility to support several productspecific applications. This protocol also offers a set of generic communication requests that may be implemented partially or entirely depending on the product application and available hardware.
Answer Header Structure Some servers specify that the sensor must respond to requests with an answer. In these cases, the answer minimally consists of an answer header and may be followed by data (specific to the request).
Element Header Structure Some protocol concepts described later make use of elements for transmitting data. Each element has a header, optionally followed by data. Table 35: Element header definition Item Size (bytes) Description Element code 2 Unique element identifier Element count 2 If the element data is an array, this is the length of the array. Element size 4 Size of the element data. If the element data is an array, this is the size of a single element data entry.
Both the request and answer headers have the same format as in concept A, which prevents compatibility breaks if a given server updates its protocol from concept A to concept B. In this concept, instead of having only one set of data accompanying a given request, it is possible to have several chunks of data, called “elements.” Each element has a header that identifies the element and its accompanying data size. The element data is optional. Here are general rules for this protocol concept: 1.
The identification server on the sensor side is constantly “listening” for identification requests from clients and answers those requests when they are received. Identification Server Protocol – Version 1 (0x0001) There is currently only one protocol version defined in Ipv4 for the identification server. For this version, protocol concept A described in “Configuration Server Requests” on page 105 applies with the following characteristics: 1. This server uses a UDP socket. 2.
3. The host sends requests (LT_COMM_DATASRV_REQUEST_SEND_ECHOES and LT_COMM_ DATASRV_REQUEST_SEND_STATES). 4. The sensor answers with the corresponding data. See Table 44 and Table 45. As previously mentioned, the packets transmitted by the data server will consist of a request header followed by a group of element headers and data. The request code identifies the type of data that is included in the packet. See “Data Server Requests” on page 105 for a list of generic requests that may be implemented.
Identification Server Requests The following table defines generic requests that are available on a Leddar Pixell. For descriptions of constants and structures, see “Constant, Structure, and Data Type Definitions.” For all requests listed below, only relevant request and answer elements are provided. Depending on the actual product firmware version, there might be additional elements sent by the product.
Table 37: Configuration server requests Request Code Description 0x0002 This is a generic request for retrieving various data from the device. The server will return all elements data requested in ELEM_LIST. ELEM_LIST = 0x0070 See Table 46 and Table 47. CFG_REQUEST_SET 0x0003 This is a generic request for setting various data in the device. The server will set a value for all elements provided with the request.
Request Code Description Request Element Answer Element CFG_REQUEST_SET_CON FIG 0x7007 This request sets the shadow copy of some or all configuration data kept in non-volatile memory. New data is not written to nonvolatile memory until CFG_REQUEST_ WRITE_CONFIG is requested. Most of the configuration data enter into force as soon as their values are set in the shadow copy, with the exceptions below.
Table 38: Data server requests Short Name Request Code Description Request Element Answer Element See Table 44. DATA_REQUEST_SEND_E CHOES 0x0020 This request asks for the last detection echoes. N/A LT_COMM_ID_FRAME_ID LT_COMM_ID_TIMESTAMP LT_COMM_ID_AUTO_TIMESTAMP64 LT_COMM_ID_AUTO_NUMBER_DATA_SENT LT_COMM_ID_AUTO_ECHOES_AMPLITUDE LT_COMM_ID_AUTO_ECHOES_DISTANCE LT_COMM_ID_AUTO_ECHOES_CHANNEL_INDEX LT_COMM_ID_AUTO_ECHOES_VALID LT_COMM_ID_STATUS See Table 45.
Structures Table 40: struct IdtAnswerIdentifyLCAuto Field Name Data Type LtComLeddarTechPublic::sLtCommAnsw erHeader mHeader Description Structure header - 16 bytes mMacAddress struct MacAddress. See Table 42. See Table 42.
Table 43: struct sLtCommElementAlert Field Name Data Type Description CODE uint64_t Alert code TIMESTAMP uint64_t Alert timestamp in seconds since 00:00:00 UTC on January 1, 1970 MESSAGE char[LT_COMM_ALERT_MSG_LENGTH] Alert default message CUSTOM_MESSAGE char[LT_COMM_ALERT_MSG_LENGTH] Alert custom message UID uint8_t PADDING uint8_t[15] Alert unique ID Reserved Elements The following tables define elements referenced in this document.
Table 45: State structure (sends states) Element Name Element Element Data Code Type Description LT_COMM_ID_TIMESTAMP 0x1050 uint_32 Timestamp of related data in ms LT_COMM_ID_CPU_LOAD_V2 0x104A float LT_COMM_ID_SYS_TEMP 0x1011 LtFixedPoint System (laser) temperature in temperature scale (divide value by temperature scale). A raw value of 0x7FFFFFFF means that there is no available temperature.
Element Code Element Data Type LT_COMM_ID_DISTANCE_SCALE 0x1003 uint32 Distance scale for fixed-point value LT_COMM_ID_AMPLITUDE_SCALE 0x1002 uint32 Amplitude scale for fixed-point value LT_COMM_ID_FILTERED_SCALE 0x1004 uint32 Filtered scale for fixed-point value LT_COMM_ID_AUTO_CHANNEL_NUMBER_HORIZ ONTAL 0x1020 uint16 Number of horizontal channels LT_COMM_ID_AUTO_CHANNEL_NUMBER_VERTI CAL 0x1021 uint16 Number of vertical channels LT_COMM_ID_MAX_ECHOES_PER_CHANNEL 0x1024 uint16_t LT_
Communication Examples Example 1: Finding Online Sensors With the Identification Server Host: Broadcast a request to the sensor identification server. The host broadcasts this request through a UDP connection type on port 48620. Fig.
Fig. 78: Available sensor answers by an identification answer packet Refer to “Configuration Server Protocol Version 2” and Table 39. 114 | 127 © 2021 LeddarTech Inc.
Table 50: Identification answer packet Answer data Answer header Item Value Protocol version Identification server protocol – Version 1 = 0x0001 Answer code OK = 0x0000 Answer size 264 bytes = 0x00000108 Request code IDT_REQUEST_IP_CONFIG = 0x0011 Reserved bytes 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 mMacAddress 8 bytes structure. See Table 42.
Example 2: Get Detections From a Connected Sensor Before receiving detections from the sensor, unlock the data server to send detections. The host sends a “Set sensor data level” request to the connected sensor via the configuration server to get detections data. The host sends this request to the connected sensor through a TCP connection type to the configuration server. Identification server (TCP) Configuration request packet Host Configuration server (TCP) Data server (TCP or UDP) Sensor Fig.
Identification server (TCP) Host Configuration answer packet Configuration server (TCP) Data server (TCP or UDP) Sensor Fig.
Identification server Request data Host Data (states/echoes) Configuration server Data server Sensor Loop Fig.
Table 54: Data detection packet for n detections Item Answer header Element header Element data Element header Element data Element header Element data Element header Element data Element header Element data Element header Element data Element header Element data Element header Element data Server protocol version Request code Request size Element code Element count Element size LT_COMM_ID_FRAME_ID field Element code Element count Element size LT_COMM_ID_TIMESTAMP field Element code Element count Element
Item Element header Element data Element header Element data Element code Element count Element size LT_COMM_ID_AUTO_ECHOES_TIMESTAMP64 field Element code Element count Element size LT_COMM_ID_STATUS field Value LT_COMM_ID_AUTO_ECHOES_TIMESTAMP64 = 0x2704 n elements 8 bytes per element = 0x00000008 Array of n detection timestamps LT_COMM_ID_STATUS = 0x2701 n elements 1 byte per element = 0x00000001 0x01 For detailed information about detection, see section 2 on page 17. 120 | 127 © 2021 LeddarTech Inc.
Example 3: Get Constant Values From a Connected Sensor In the following example, we want to know LT_COMM_ID_FILTERED_SCALE and LT_COMM_ID_DISTANCE_SCALE constant values to interpret incoming detection data. Requests sent by host and sensor answers will be described below. The host sends a request to the connected sensor via the configuration server to get a list of constant values. Identification server Configuration request packet Host Configuration server Data server Sensor Fig.
The connected sensor sends a confirmation answer to the host. Identification server Configuration answer packet Host Configuration server Data server Sensor Fig.
Appendix E. Converting Leddar Pixell Flash LiDAR Sensor’s Angular Data and Distance Reporting and Mapping to Real-World Coordinates Protocol Each Leddar Pixell™ Cocoon LiDAR sensor is thoroughly calibrated on a dedicated production bench both in angular positions and in absolute distance using various traceable targets and carefully selected scenes to reach the required accuracy with precise angular mapping. The sensor comes with accessible internal data providing the angular mapping done in production.
Mechanical Positions of the Reference Point for the Leddar Pixell The Leddar Pixell sensor is calibrated in production relative to a preferred mechanical reference point rather than the mounting holes in order to reduce variability (Fig. 85 and Fig. 86). Fig. 85: Top view of the sensor showing the reference point Fig. 86: Side view of the sensor showing the reference point 124 | 127 © 2021 LeddarTech Inc.
Information Returned From the Leddar Pixell The Leddar Pixell sensor returns echoes tagged with a global segment number (0-767) and a distance (see section 4.3 on page 28). For each segment number, there is a general angular mapping stored in the sensor based on production data for a target at maximum range. A transformation should be applied to find the position (x, y, z) in space according to the distance of the echoes and the segment number.
Next, the field of view specific distance Ru can be evaluated using the reported distance R' from the echo, the Bx, By, and u, v derived from the segment number of the echo of interest.
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