OCDMA Codeword Switching Technique to Avoid Interference of Time-of-Flight LiDAR System for Autonomous Vehicles

Abstract

The direct time-of-flight (d-ToF) technique is the most promising method for light detection and ranging (LiDAR) systems in long-range autonomous applications. However, the receiver cannot distinguish its own pulse signal from those of other LiDAR systems. This causes mutual interference between LiDAR systems, which degrades object recognition. The optical code division multiple access (OCDMA) modulation technique can be used to avoid mutual interference. However, it is difficult to secure sufficient orthogonal codes, because each laser channel uses a designated codeword. In addition, when interference occurs in a specific direction, it can occur continuously. Adversarial attacks on a LiDAR system can trick a vehicle to perform false object recognition without physical contact. This can endanger passengers, pedestrians, and other vehicles. Therefore, we propose an OCDMA codeword switching technique that can effectively solve these problems in driving environments. First, we analyzed the characteristics of optical orthogonal codes (OOC) and defined the interference generated in LiDAR systems. The proposed technique exhibits interference robustness by using a code index buffer based on differences in the received optical signal power. In addition, verification of the hardware implementation and its complexity was analyzed using LiDAR testbench and an FPGA. The interference and continuous interference of the proposed technique in various driving environments were verified using simulation model. Compared with using only a designated codeword, the proposed technique reduces interference by 82.59% and 85.51%, and continuous interference by 92.24% and 96.94% in straight-line and curved driving, respectively.