Digital Integration of LiDAR System Implemented in a Low-Cost FPGA

Abstract

With the development of artificial intelligence, LiDAR finds significant applications in robotics and autonomous driving. Aiming at increasing the compactness and the integration of 2-D LiDAR, this paper presents a highly digitally integrated 2-D LiDAR system implemented in a low-cost FPGA. The system is made of off-the-shelf components to limit the cost to USD 100. A laser transceiver with a symmetrical transmitting and receiving lens emits and collects laser pulses to range distance using the time-of-flight (ToF) method. As a key component in ToF, the FPGA-based time-to-digital converter (TDC) is adopted for counting the round-trip time of pulses, which is implemented in a low-cost FPGA of ZYNQ7010 with limited resources. The symmetrical structure of the delay line is used to design a more efficient TDC. The FPGA-TDC enables flexibility of design and integration with more functional logics and is microcontroller-free. All the digital logics including data processing and controlling are integrated into an FPGA with the TDC logics to realize fully digital integration and compact dimensions. The utilization of the whole architecture in the FPGA is about 15%. The experimental results demonstrated that the ranging accuracy of the LiDAR is about 2 cm, which is suitable for consumer electronics.