Adaptive strategy for CPPM single-photon collision avoidance LIDAR against dynamic crosstalk

Crosstalk is the main challenge for active collision avoidance LIDAR. Conventional strategy on static discrimination threshold and unified number of accumulated pulses is not valid against crosstalk with varying number of sources and varying intensity. This paper presents an adaptive strategy to distinguish the target echo from dynamic crosstalk with unknown intensity in the scenario of intelligent vehicles and autonomous ground vehicles. The adaptive strategy is theoretically and experimentally verified to have much better performance on dynamic crosstalk than conventional strategy, and the detection rate is enhanced by 82.4% as well.