As opposed to ToF which sends out a brief laser pulse and then waits for its return, FMCW transmits a continuous laser beam with a prescribed, continuous change in the frequency.Because the frequency is changing at a constant rate, there’s a frequency difference between the outgoing and the incoming beams that’s directly proportional to the distance that the returning beam traveled before bouncing back.
In contrast, outside of maintaining a good pulse shape, there are few other requirements on the laser in a TOF system beyond those already required in telecom markets.While it is true that FMCW detectors can be low grade PINs and relatively cheap, the total receiver cost is expensive due to the front end optics and back end electronics requirements.
The multitude of potential sidelobes in FMCW lead to artifacts that impact not just local range samples, but the entire returned waveform for a given pulse!A potentially stronger interference source is a reflection caused by either a windshield or other first surface that is applied to the LiDAR system. With an agile scanner, such as the one AEye has developed, the 500us is not solely dedicated or “captive” to velocity estimation. What do you think?For us Built Environment, 3D laser scanning and lidar folks the bubble is tremendous news. To provide context, a 10us FMCW pulse spreads light radially across 1.5km range. Below is a summary of our views and a side-by-side comparison between TOF vs. FMCW LiDAR claims.Contrary to the recent news articles, FMCW LiDAR has been around for a very long time, with its beginnings stemming from work done at MIT Lincoln Laboratory in the 1960s,TOF LiDAR systems can offer very fast laser shot rates (several million shots per second in the AEye system), agile scanning, increased return salience, and the ability to apply high density Regions of Interest (ROIs)—giving you a factor of 2x–4x better information from returns versus other systems. Even here though, a coaxial FMCW system and a coaxial TOF system will not see significant differences in detector costs based on detector sizes needed. We believe this path can take another 10 years to reach usable maturity.AEye believes that high shot-rate, agile-scanning TOF systems serve the needs of autonomous vehicle LiDAR more effectively than FMCW when cost, range, performance, and point cloud quality are important. This is even before the implementation complexities caused by environmental requirements.The optical components used in TOF LiDAR systems are derivatives of components widely and routinely used in commercial systems (cable TV, telecom, medical instrumentation, and other industries).

IEEE Spectrum, Reuters, Businesswire: Aeva announces its FMCW LiDAR that integrates all the key elements of a LiDAR sensor onto a photonics chip.Aeva’s 4D LiDAR-on-chip reduces the size and power of the device by orders of magnitude while achieving full range performance of over 300m for low reflective objects and the ability to measure instant velocity for every point. It is well known that phased array beam steering degrades (creates spatial sidelobes) very quickly with frequency shifts of the laser beam. The total receiver cost will favor a TOF system.In a typical TOF system, incoherent detection (simple amplitude peak detection) takes place and optical elements only have to be within one-quarter of a wavelength (so called λ/4). Even if it required two consecutive shots to get velocity on a target at 1km, it’s easy to see how that would be superior to a single shot at 100m given a common frame rate of 20Hz and typical vehicle speeds.Spurious reflections arise in both TOF and FMCW systems. AEye has demonstrated a system that is capable of multi-point detects of low reflectivity: small objects and pedestrians at over 200m, vehicles at 300m, and a class-3 truck at 1km range. Whereas, it requires significant disambiguation in FMCW systems. Aeva FMCW Lidar Two veterans of the yet-to-be-taken-public, Apple driverless car project have left the mother-ship and gone off on their own to form Aeva. No amount of dynamic range between small and large offset returns has any effect on the light incident on the photodetector when the small target return is captured. By comparison, many low complexity FMCW systems are only capable of shot rates in the 10’s to 100’s of thousands of shots per second (~50x slower). The amount of motion of a target in 10us can be typically only 0.5mm. How does one know a bubble when you see one? We can use the time wisely to look at other areas/targets before returning to the original target for a high confidence velocity measurement.

AEye… ← AEye Unveils 4Sight™, a Breakthrough LiDAR Sensor That Delivers Automotive Solid-State Reliability and Record-Breaking Performance Two veterans of the yet-to-be-taken-public, Apple driverless car project have left the mother-ship and gone off on their own to form Aeva. To establish a velocity that is statistically significant, the target should have moved at least 2cm, which takes about 500us (while requiring sufficient SNR to interpolate range samples).


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