저작자표시-비영리-변경금지 2.

0 대한민국

이용자는 아래의 조건을 따르는 경우에 한하여 자유롭게

l 이 저작물을 복제, 배포, 전송, 전시, 공연 및 방송할 수 있습니다.

다음과 같은 조건을 따라야 합니다:

저작자표시. 귀하는 원저작자를 표시하여야 합니다.

비영리. 귀하는 이 저작물을 영리 목적으로 이용할 수 없습니다.

변경금지. 귀하는 이 저작물을 개작, 변형 또는 가공할 수 없습니다.

l 귀하는, 이 저작물의 재이용이나 배포의 경우, 이 저작물에 적용된 이용허락조건

을 명확하게 나타내어야 합니다.
l 저작권자로부터 별도의 허가를 받으면 이러한 조건들은 적용되지 않습니다.

저작권법에 따른 이용자의 권리는 위의 내용에 의하여 영향을 받지 않습니다.

이것은 이용허락규약(Legal Code)을 이해하기 쉽게 요약한 것입니다.

Disclaimer
 A study on FMCW LiDAR signal

processing for reducing the number of

FFT

Sehun Kim

August 2022

Department of Information and Communications

Engineering

The Graduate School

Sejong University
 A study on FMCW LiDAR signal

processing for reducing the number of

FFT

Sehun Kim

A thesis submitted to the Faculty of the Sejong University in partial

fulfillment of the requirements for the degree of Master in
Department of Information and Communications Engineering.

August 2022

Approved by

Professor Seongjoo Lee

Major Advisor
 A study on FMCW LiDAR signal processing

for reducing the number of FFT

by

Sehun Kim

Approved -----------------------------------------------
Younghwan You, Chair of the committee

Approved -----------------------------------------------
Yunho Jung, Member of master committee

Approved -----------------------------------------------
Seongjoo Lee, Advisor
 Abstract
A study on FMCW LiDAR signal processing for reducing the number of FFT

This thesis proposes a multipoint processing method (MCP) for FMCW LiDAR.

The proposed method reduces the number of fast Fourier transform (FFT) calculation

compared to the traditional FMCW LiDAR method. This leads to a reduced power

consumption. To end this, the proposed method accumulates the multiple beat

frequencies in the time domain before the FMCW LiDAR extracts the measured

distances from the beat frequencies using the FFT. To distinguish the distances that

are extracted from the FFT, a pulse-width modulation (PWM) counter and an analog

comparator were applied. A hysteresis analog comparator is used to increase the

immunity from the external noise. When the measured distances are too close to be

indistinguishable by the FFT, it may fail to distinguish the measurement order. In

order to respond to this situation, the proposed method includes a point-calibration

algorithm. To evaluate the performance of the method, the RMSE (root mean square

error) performance is measured. An error of 0.38 cm is confirmed at 80 dB of the

receiving intensity of the beat frequency. It is confirmed that 1374 hardware resource

lookup tables are used. Unlike the traditional FMCW LiDAR, which increases the

FFT power consumption time linearly as the number of distance measurements

increases, the method proposed in this thesis is confirmed to have a constant FFT

power consumption time (538 us).

Keywords: LiDAR, FMCW, FFT

 Contents

List of Abbreviations ····································································· iii

Chapter I. Introduction ·································································· 1

Chapter II. Proposed Algorithm ······················································· 2

Chapter III. Conclusion ·································································· 3

Reference ···················································································· 4

-i-
Appendix

Appendix I – List of Papers ································································ 1

[A] Multipoint Combined Processing for FMCW LiDAR ··························· 1

Appendix II – Patent application ·························································· 1

[A] FMCW LiDAR system with low power consumption ···························· 1

국문초록

- ii -
 List of Abbreviations

FMCW Frequency Modulation Continuous-Wave

LiDAR Light Detection and Ranging
FFT Fast Fourier Transform
RMSE Root Mean Square Error

- iii -
 Chapter I. Introduction

Advanced driver assistance systems (ADASs) and unmanned aerial vehicles

(UAVs) utilize a variety of heterogeneous sensors. LiDAR has been employed for
obstacle identification and intelligent avoidance maneuvers because, unlike RGB
cameras, it delivers exact distance measurements. LiDAR, which is utilized in a
variety of situations including applications that must be powered by batteries as
well as environments where electricity is available at all times, is becoming more
popular due to its low-power operation. LiDAR that consumes less current, for
example, can extend the flight life of drones in unmanned aerial vehicle
applications. FMCW (Frequency-Modulated Continuous Wave) LiDAR extracts
the distance information from beat-frequency. To end this, FFT (Fast Fourier
transform) module is used. A traditional FMCW LiDAR extracts the
measurement distance by running the FFT module as the measurement is
performed. In this thesis, multipoint combined processing method has been
proposed to reduce the power consumption of LiDAR by reducing the effective
time during which the FFT module consumes power. By accumulating beat
frequencies in the time domain, a combined beat frequency is generated. The
generated signal is analyzed by FFT module to extract distance information.
With this proposed method, it is confirmed that the power of the FFT module
consumed per unit distance measurement is reduced.

-1-
 Chapter II. Proposed Algorithm

The adder module accumulates beat frequencies in the time domain, in which
illustrated in Equation (1)
𝑷−𝟏

𝒌[𝒏] = ∑ 𝒔𝒑 [𝒏] (𝟏)

𝒑=𝟎

The digitized beat frequency signal (𝒔𝒑 ) is accumulated until the number of
measurements reaches P. To discriminate measurement points, PWM counter is
proposed. The rising edges of the analog comparator output are counted by the
PWM counter module. The analog comparator determines if the voltage of the
incoming beat frequency signal is above or below a certain threshold. A high-
frequency signal more frequently swings the threshold voltage back and forth
than a low frequency. A high PWM counter value indicates that a high-frequency
signal is received.

𝒓𝒙,𝒚 = 𝒓𝒂𝒏𝒌(𝒁𝑪, 𝒁𝑪𝒙,𝒚 ) (𝟐)

In Equation (2), 𝒁𝑪𝒙,𝒚 is the PWM counter value when the scanner

coordinates are (x, y). ZC is a set of sizes P with 𝒁𝑪𝒙,𝒚 as an element. The

rank(ZC, 𝒁𝑪𝒙,𝒚) is the rank of the element ZCx,y in ascending order. With this
algorithm, the measured distance (d) is matched with x, y axis coordinates.

-2-
 Chapter III. Conclusion

To reduce the amount of FFT calculations, a multipoint combined processing

approach for FMCW LiDAR is suggested in this thesis. The fundamental idea is
to collect the beat frequency received in the time domain. Unlike the traditional
single-point FMCW LIDAR method, which required activating the FFT module
for each measurement in order to extract distance information from the beat
frequency signal, the proposed method, which accumulates the beat frequencies
in the time domain, allows multiple distances to be extracted with a single FFT
operation. The number of LUT (Look up table) consumed by the proposed
method is 1374. Total FFT processing time of the proposed method is 532 us.
The average RMSE is 0.38 cm at 80 dB.

-3-
 Reference

[1] A. Geiger, P. Lenz, and R. Urtasun, “Are we ready for autonomous driving?
The KITTI vision benchmark suite,” in Proc. IEEE Conf. Comput. Vis. Pattern
Recognit., Jun. 2012, pp. 3354–3361, doi: 10.1109/CVPR.2012.6248074.

[2] A. Rangesh and M. M. Trivedi, “No blind spots: Full-surround multiobject

tracking for autonomous vehicles using cameras and LiDARs,” IEEE Trans.
Intell. Vehicles, vol. 4, no. 4, pp. 588–599, Dec. 2019.

[3] J. Martin, S. May, S. Endres, and I. Cabanes, “Decentralized robot-cloud

architecture for an autonomous transportation system in a smart factory,” in
Proc. SEMANTICS Workshops, 2017, pp. 1–8

[4] D. Li et al., “Co-path full-waveform LiDAR for detection of multiple along-

path objects,” Opt. Lasers Eng., vol. 111, pp. 211–221, Dec. 2018.

[5] E. Gregorio, F. Rocadenbosch, R. Sanz, and J. Rosell-Polo, “Eye-safe lidar

system for pesticide spray drift measurement,” Sensors, vol. 15, no. 2, pp. 3650–
3670, Feb. 2015

[6] B. Behroozpour, P. A. M. Sandborn, M. C. Wu, and B. E. Boser, “Lidar

system architectures and circuits,” IEEE Commun. Mag., vol. 55, no. 10, pp.
135–142, Oct. 2017, doi: 10.1109/MCOM.2017.1700030.

[7] M. E. Warren, “Automotive LIDAR technology,” in Proc. Symp. VLSI

Circuits, Jun. 2019, pp. C254–C255, doi: 10.23919/VLSIC.2019.8777993.

[8] H. K. Tsang et al., “Two-photon absorption and self-phase modulation in

InGaAsP/InP multi-quantum well wave-guides,” J. Appl. Phys., vol. 70, no. 7, pp.
3992–3994, 1991.

-4-
[9] K. Yoshioka et al., “A 20ch TDC/ADC hybrid SoC for 240×96-pixel 10%-
reflection <0.125%-precision 200 m-range imaging LiDAR with smart
accumulation technique,” in IEEE ISSCC Dig. Tech. Papers, Feb. 2018, pp. 92–
94, doi: 10.1109/ISSCC.2018.8310199

[10] E. Hyun and J.-H. Lee, “Method to improve range and velocity error using
de-interleaving and frequency interpolation for automotive FMCW radars,” Int.
J. Signal Process., Image Process. Pattern Recognit., vol. 2, no. 2, pp. 11–21, 2009.

[11] G. Zhang et al., “Demonstration of high output power DBR laser integrated
with SOA for the FMCW LiDAR system,” Opt. Exp., vol. 30, no. 2, pp. 2599–
2609, 2022.

[12] M. Liu, P. Zhao, T. Wu, K. K. Parhi, X. Zeng, and Y. Chen, “A low-power

twiddle factor addressing architecture for split-radix FFT processor,”
Microelectron. J., vol. 117, Nov. 2021, Art. no. 105276

[13] C. Kim, Y. Jung, and S. Lee, “FMCW LiDAR system to reduce hardware
complexity and post-processing techniques to improve distance resolution,”
Sensors, vol. 20, no. 22, p. 6676, Nov. 2020.

[14] S. Gao and R. Hui, “Frequency-mFrequency-modulated continuouswave

lidar using I/Q modulator for simplified heterodyne detection,” Opt. Lett., vol. 37,
no. 11, pp. 2022–2024, 2012.

[15] F. Ali and M. Vossiek, “Detection of weak moving targets based on 2-D
range-Doppler FMCW radar Fourier processing,” in German Microw. Conf. Dig.
Papers, Mar. 2010, pp. 214–217.

-5-
[16] S. Kameyama, T. Ando, K. Asaka, Y. Hirano, and S. Wadaka, “Performance
of discrete-Fourier-transform-based velocity estimators for a wind-sensing
coherent Doppler lidar system in the Kolmogorov turbulence regime,” IEEE
Trans. Geosci. Remote Sens., vol. 47, no. 10, pp. 3560–3569, Oct. 2009, doi:
10.1109/TGRS.2009.2022062

[17] J. Lee, Y.-A. Li, M.-H. Hung, and S.-J. Huang, “A fully-integrated 77-GHz
FMCW radar transceiver in 65-nm CMOS technology,” IEEE J. Solid-State
Circuits, vol. 45, no. 12, pp. 2746–2756, Dec. 2010, doi:
10.1109/JSSC.2010.2075250.

[18] D. Wang, C. Watkins, S. Koppal, M. Li, Y. Ding, and H. Xie, “A compact

omnidirectional laser scanner based on an electrothermal tripod MEMS mirror
for lidar,” in Proc. 20th Int. Conf. Solid-State Sens., Actuators Microsyst.
Eurosensors XXXIII (TRANSDUCERS EUROSENSORS XXXIII), Jun. 2019, pp.
1526–1529, doi: 10.1109/TRANSDUCERS.2019.8808

[19] T. Fersch, R. Weigel, and A. Koelpin, “Increasing the signal-to-noise ratio in

APD-based scanning LiDAR sensors on the transmission side,” in Proc. IEEE
Conf. Recent Adv. Lightw. Technol. (CRALT), Sep. 2016, pp. 1–3, doi:
10.1109/CRALT.2016.8066038.

[20] X. T. Nguyen, V. L. Dinh, H.-J. Lee, and H. Kim, “A highdefinition LIDAR

system based on two-mirror deflection scanners,” IEEE Sensors J., vol. 18, no. 2,
pp. 559–568, Jan. 2018, doi: 10.1109/JSEN.2017.2777500

[21] S. Kim, Y. Jung and S. Lee, "Multipoint Combined Processing for FMCW
LiDAR," in IEEE Sensors Journal, vol. 22, no. 9, pp. 8933-8943, 1 May1, 2022,
doi: 10.1109/JSEN.2022.3163740.

-6-
Appendix

< Appendix I > List of Papers

< Appendix II > Patent applications

Appendix I – List of Papers

[A] S. Kim, Y. Jung and S. Lee, "Multipoint Combined Processing for FMCW
LiDAR," in IEEE Sensors Journal, vol. 22, no. 9, pp. 8933-8943, 1 May1, 2022,
doi: 10.1109/JSEN.2022.3163740.
 Paper A

Multipoint Combined Processing for FMCW LiDAR

Sehun Kim1, Yunho Jung2, Seongjoo Lee1

Sejong University
Department of information and Communications Engineering and Convergence
Engineering for Intelligent Drone

Korea Aerospace University

School of Electronics and Information Engineering

IEEE Sensors 22.09 (2022): 8933

-1-
-2-
-3-
-4-
-5-
-6-
-7-
-8-
-9-
- 10 -
- 11 -
- 12 -
Appendix II – Patent Application

[A] FMCW LiDAR system with low power consumption

 Patent Application A

FMCW LiDAR system with low power consumption

특허 출원 번호 : 10-2021-0099414

-1-
-2-
-3-
-4-
-5-
 국문초록

FFT 횟수를 줄이기 위한 FMCW 라이다 신호처리에

관한 연구

세종대학교 대학원

정보통신공학과

김세훈

본 논문은 FMCW LiDAR를 위한 MCP(Multipoint Processing Method)를

제안한다. 제안하는 방법은 기존의 FMCW LiDAR 방법에 비해 FFT(고속

푸리에 변환) 계산 횟수를 줄인다. 이는 감소된 전력 소비로 이어진다. 이를

위해 본 논문에서 제안된 방법은 FMCW LiDAR가 FFT(고속 푸리에 변환)를

사용하여 비트 주파수에서 측정된 거리를 추출하기 전에 시간 영역에서 다중

비트 주파수를 누적하는 것이다. 이후 누적된 비트 주파수 신호를 FFT 모듈을

-1-
사용하여 주파수 성분을 검출한다. 본 논문에서 제안하는 MCP는 수신된 비트

주파수 신호들의 상대적 속도(frequency)를 측정하기 위하여 펄스 폭

변조(PWM) 카운터와 아날로그 비교기를 사용하였다. 히스테리시스 아날로그

비교기를 사용하여 외부 노이즈에 대한 내성을 높이는 한편 측정 거리가 너무

가까워 FFT로 구분할 수 없을 경우 측정 순서를 구별할 수 없는 한계가 있다.

이러한 상황에 대응하기 위해 본 논문에서 제안하는 MCP는 포인트

캘리브레이션 알고리즘을 포함한다. 제안된 방법의 성능을 평가하기 위해

RMSE(평균제곱근 오차) 성능을 측정하여 beat frequency의 수신강도 80

dB에서 0.38 cm 오차를 확인하였다. 제안한 구조의 알고리즘을 구현하기

위하여 필요로 하는 하드웨어 자원 Look up table은 1374개가 사용되는

것으로 확인하였다. 거리 측정 횟수가 증가함에 따라 선형적으로 FFT 전력

소비 시간이 증가하는 전통적인 FMCW LiDAR와 달리 본 논문에서 제안한

방법은 일정한 FFT 전력 소비시간 (538 us)를 갖는 것으로 확인하였다.

주요어 : LiDAR, FMCW, FFT

-2-