Leddar T16 User manual

Leddar T16
Solid-State LiDAR Traffic Sensor
USER GUIDE

Page Intentionally Left Blank

© 2019 LeddarTechTM Inc. All rights reserved.
LeddarTechTM Inc., referred to as the Company shall not be liable for any errors contained herein
or for any damages arising out of or related to this document or the information contained therein,
even if the Company has been advised of the possibility of such damages.
The information contained herein is the property of the Company, and shall not be reproduced in
whole or in part without prior written approval of the Company. The Company assumes no
responsibility for any errors or omissions in this document.
Leddar is atrademark of LeddarTechTM Inc. All other trademarks are the property of their respective
owners.
Leddar™ Configuration software: this software is based in part on the work of the Independent
JPEG Group.

DISCLAIMER
LeddarTechTM Inc. reserves the right to modify the products and/or specifications described herein
at any time, without notice, at LeddarTech’s sole discretion. Performance specifications and
operating parameters of the described products are determined in an independent state and are
not guaranteed to perform the same way when installed in customer products. The information
contained herein is provided without representation or warranty of any kind, whether express or
implied, including, but not limited to, the suitability of LeddarTech’s products for any particular
purpose, an implied warranty of merchantability, or non-infringement of the intellectual property
rights of others. This document is presented only as a guide and does not convey any license under
intellectual property rights of LeddarTech or any third parties.

Page 5 of 109 Leddar T16 –User Guide
Table of Contents
VERSION HISTORY ....................................................................................................................... 7
LIST OF FIGURES.......................................................................................................................... 8
LIST OF TABLES.......................................................................................................................... 10
CONTACT INFORMATION........................................................................................................... 11
DOCUMENT CONVENTIONS ...................................................................................................... 12
LABEL EXPLANATION AND SAFETY INFORMATION...................................................... 13
1.1. REGULATORY COMPLIANCE ............................................................................................... 13
INTRODUCTION.................................................................................................................... 14
2.1. DEFINITIONS...................................................................................................................... 14
2.2. UNDERLYING PRINCIPLES AND LIDAR FUNDAMENTALS ....................................................... 15
2.3. KEY FACTORS FOR BEST SENSOR PERFORMANCE.............................................................. 16
DESCRIPTION....................................................................................................................... 17
3.1. EQUIPMENT DESIGNATION AND DESCRIPTION ..................................................................... 17
3.1.1. Key Components ..................................................................................................... 19
3.1.2. Distance Measurement............................................................................................ 22
SPECIFICATIONS ................................................................................................................. 23
4.1. GENERAL CHARACTERISTICS ............................................................................................. 23
4.2. MECHANICAL SPECIFICATIONS ........................................................................................... 24
4.2.1. Leddar T16 Traffic Dimensions................................................................................ 25
4.2.2. Leddar T16 Tolling Dimensions............................................................................... 25
4.2.3. Distance Screw........................................................................................................ 26
4.3. ELECTRICAL SPECIFICATIONS............................................................................................. 29
4.4. ENVIRONMENTAL SPECIFICATIONS...................................................................................... 29
4.5. SOFTWARE SYSTEM REQUIREMENTS.................................................................................. 29
INSTALLING THE LEDDAR T16 SENSOR.......................................................................... 30
5.1. INSTALLING AND ORIENTING THE SENSOR........................................................................... 30
5.2. CONNECTING THE LEDDAR T16 SENSOR ............................................................................ 32
INSTALLING LEDDARTM CONFIGURATION....................................................................... 33
6.1. CONNECTING TO LEDDARTM CONFIGURATION...................................................................... 34
LEDDARTM CONFIGURATION.............................................................................................. 38
7.2. FILE MENU........................................................................................................................ 44
7.2.1. Recordings (.ltl file).................................................................................................. 45
7.2.1.1. How to Edit Recording Settings ........................................................................... 45
7.2.1.2. How to Record a Scene ....................................................................................... 47
7.2.1.3. How to Play a Recording...................................................................................... 47
7.2.1.4. How to Extract a Scene Segment ........................................................................ 50

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7.2.2. Data Logging (.txt file).............................................................................................. 51
7.2.2.1. How to Setup Data Logging ................................................................................. 51
7.2.2.2. How to Start and Stop Data Logging.................................................................... 51
7.3. DEVICE MENU................................................................................................................... 52
7.3.1. Configurations.......................................................................................................... 53
7.3.1.1. Device Name and How to Change it.................................................................... 53
7.3.2. Acquisition Settings.................................................................................................. 54
7.3.3. Network Settings...................................................................................................... 57
7.3.4. Orientation Control (Pan/Tilt Adjustment)................................................................ 58
7.3.5. Video Settings.......................................................................................................... 59
7.3.6. Action....................................................................................................................... 60
7.4. VIEW MENU....................................................................................................................... 61
7.4.1. Device State............................................................................................................. 62
7.4.2. Image Activation ...................................................................................................... 63
7.4.3. Grid Activation.......................................................................................................... 63
7.4.4. Raw Detections........................................................................................................ 64
7.4.5. Raw Detections Graph............................................................................................. 67
7.4.5.1. Setting Scale Areas and Detection Points ........................................................... 68
7.4.5.2. Detection Scene Short Keys ................................................................................ 74
7.5. SETTINGS MENU................................................................................................................ 75
7.5.1. Record Settings ....................................................................................................... 75
7.5.2. Data Logger ............................................................................................................. 76
7.5.3. Preferences.............................................................................................................. 77
7.5.4. Access Level............................................................................................................ 79
7.6. HELP MENU ...................................................................................................................... 80
7.6.1. User Guide............................................................................................................... 80
7.6.2. LeddarTM SDK Help.................................................................................................. 80
7.6.3. About........................................................................................................................ 80
COMMUNICATION PROTOCOL........................................................................................... 81
TROUBLESHOOTING........................................................................................................... 82
MAINTENANCE ................................................................................................................. 83
TECHNICAL SUPPORT..................................................................................................... 86
INDEX................................................................................................................................. 87
APPENDIX A. STATIC IP AND DHCP CONFIGURATION UNDER WINDOWS 7 AND UP..... 89
PART A–CONFIGURING THE NETWORK FOR STATIC IP MODE......................................................... 89
PART B–CONFIGURING THE NETWORK FOR DHCP MODE ............................................................. 93
APPENDIX B. MAKING CONNECTORS FOR THE ETHERNET CABLE................................. 95
APPENDIX C. PROCEDURE TO USE LEDDARCDEMO (SDK CODE EXAMPLE) WITH THE
LEDDAR T16 SENSOR……………. ........................................................................................... 101

Page 7 of 109 Leddar T16 –User Guide
Version History
VERSION
DESCRIPTION
DATE
(YYYY-MM-DD)
54A0043-1EN
Initial release
2019-02-06
54A0043-2EN
•Reviewed Document Conventions section.
•FCC mention moved to section 1.1.
•Table 6 and Table 9: Mention of 48° Traffic configuration deleted.
•Table 10 and Table 11: Detection ranges modified and notes
added.
2019-03-28

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List of Figures
Figure 1: Time of Flight.................................................................................................................. 15
Figure 2: Front View of the Leddar T16 Traffic Sensor................................................................. 20
Figure 3: Front View of the Leddar T16 Tolling Sensor................................................................. 20
Figure 4: Back View of the Leddar T16 Traffic.............................................................................. 21
Figure 5: Back View of the Leddar T16 Tolling ............................................................................. 21
Figure 6: Distance Measurement with the Leddar T16 Sensor..................................................... 22
Figure 7: Leddar T16 Traffic Sensor Dimensions.......................................................................... 25
Figure 8: Leddar T16 Tolling Sensor Dimensions......................................................................... 25
Figure 9: Leddar T16 Traffic Top View –Measurements Between Mounting Threads................. 26
Figure 10: Leddar T16 Traffic Bottom View –Measurements Between Mounting Threads ......... 27
Figure 11: Leddar T16 Tolling Bottom View –Measurements Between Mounting Threads......... 28
Figure 12: Mounting Position Examples........................................................................................ 30
Figure 13: Orienting the Sensor with Reference Marks ................................................................ 31
Figure 14: Sensor Position Adjustments ....................................................................................... 31
Figure 15: Windows Security Dialog Box ...................................................................................... 33
Figure 16: Leddar™ Configuration Opening Window.................................................................... 34
Figure 17: Connection Window ..................................................................................................... 35
Figure 18: Opened Window Check Mark Example ....................................................................... 38
Figure 19: Warning Message Example ......................................................................................... 38
Figure 20: Leddar™ Configuration Traffic Configuration Main Window ........................................ 39
Figure 21: Leddar™ Configuration Tolling Configuration Main Window ....................................... 40
Figure 22 : Record Settings Window............................................................................................. 46
Figure 23: Record Replay Window at Opening............................................................................. 48
Figure 24: Record Replay Window with File Open........................................................................ 48
Figure 25: Extracted Segment Example........................................................................................ 50
Figure 26: Data Log Settings Dialog Box ...................................................................................... 51
Figure 27: Device Name Dialog Box ............................................................................................. 54
Figure 28: Acquisition Settings Dialog Box ................................................................................... 54
Figure 29: Network Settings Configuration Window...................................................................... 57
Figure 30: Orientation Control Window ......................................................................................... 58
Figure 31: Active Grid Application Example.................................................................................. 58
Figure 32: Video Settings Window ................................................................................................ 59
Figure 33: Device State Dialog Box............................................................................................... 62
Figure 34: Raw Detections Window .............................................................................................. 64
Figure 35: Raw Detection Graph Example.................................................................................... 67
Figure 36: Vertical Scale Setting Areas (Traffic Configuration)..................................................... 69
Figure 37: Vertical Scale Setting Areas (Tolling Configuration).................................................... 70
Figure 38: Horizontal Scale Setting Areas (Traffic Configuration) ................................................ 71
Figure 39: Horizontal Scale Setting Areas (Tolling Configuration)................................................ 72
Figure 40: Detection Point Coordinates (Traffic Configuration) .................................................... 73
Figure 41: Detection Point Coordinates (Tolling Configuration).................................................... 74
Figure 42: Recording Settings Window......................................................................................... 75
Figure 44: Data Logger Dialog Box............................................................................................... 77
Figure 45: Preferences Options Window....................................................................................... 77

Page 9 of 109 Leddar T16 –User Guide
Figure 46: Enter Password Dialog Box ......................................................................................... 79
Figure 47: Change Adapter Settings............................................................................................. 89
Figure 48: Ethernet Network Option.............................................................................................. 90
Figure 49: Ethernet Properties ...................................................................................................... 91
Figure 50: IP Address and Subnet Mask....................................................................................... 92
Figure 51: Sensor Connection to POE+ Switch ............................................................................ 93
Figure 52: Ethernet Properties ...................................................................................................... 94
Figure 53: IP Address and Subnet Mask....................................................................................... 94
Figure 54: RJ45 Industrial Modular Connector Kit for the Sensor Side of the Ethernet Cable..... 95
Figure 55: Ethernet Cable with the Jacket Stripped and Plug Housing ........................................ 96
Figure 56: Twisted Pairs................................................................................................................ 96
Figure 57: Cat 5e T568B Wiring Diagram ..................................................................................... 97
Figure 58: Wires in the Load Bar................................................................................................... 97
Figure 59: Trimming the Wires...................................................................................................... 98
Figure 60: Inserting the Load Bar and Wires in the RJ45 Plug..................................................... 98
Figure 61: Crimping the RJ45 Plug ............................................................................................... 99
Figure 62: RJ45 Strain Relief Connector Kit for the Oend of the Ethernet Cable....................... 100

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List of Tables
Table 1: Explanation of Labels on the Sensor............................................................................... 13
Table 2: Regulatory Compliance ................................................................................................... 13
Table 3: Definitions........................................................................................................................ 14
Table 4: Key Factors for Best Performance .................................................................................. 16
Table 5: Equipment Designation ................................................................................................... 17
Table 6: Leddar T16 Sensor Traffic and Tolling Configurations.................................................... 18
Table 7: Ethernet Cable Description.............................................................................................. 18
Table 8: Leddar T16 Characteristics ............................................................................................. 23
Table 9: Test Conditions and Detection Range (Traffic)............................................................... 23
Table 10: Test Conditions and Detection Range (Tolling) ............................................................ 24
Table 11: Leddar T16 Mechanical Specifications.......................................................................... 24
Table 12: Leddar T16 Electrical Specifications ............................................................................. 29
Table 13: Leddar T16 Environmental Specifications..................................................................... 29
Table 14: LeddarTM Configuration System Requirements............................................................. 29
Table 15: Connection Window Information ................................................................................... 36
Table 16: Main Window Menus..................................................................................................... 41
Table 17: Main Window Toolbar.................................................................................................... 43
Table 18: File Menu Options ......................................................................................................... 44
Table 19: Record Replay Window................................................................................................. 49
Table 20: Device Menu Options.................................................................................................... 52
Table 21: Acquisition Settings Window......................................................................................... 55
Table 22: Network Configuration Window..................................................................................... 57
Table 23: Video Settings ............................................................................................................... 59
Table 24: Action Buttons Description ............................................................................................ 60
Table 25: View Menu Options ....................................................................................................... 61
Table 26: Device State Information............................................................................................... 62
Table 27: Raw Detections Parameters.......................................................................................... 65
Table 28: Flag Value Description .................................................................................................. 66
Table 29: Recording Settings ........................................................................................................ 75
Table 30: Preferences Window Options and Settings................................................................... 78

Page 11 of 109 Leddar T16 –User Guide
Contact Information
LeddarTech
Head Office
LeddarTech
Production and Shipping
Address
4535 Wilfrid-Hamel Blvd, Suite 240
Quebec City QC G1P 2J7
Canada
3220 Watt Ave, Suite 120
Quebec City QC G1X 4Z6
Canada
Phone Number
[phone]
[phone]
8:30 a.m. - 5:00 p.m. EST
Technical Support
[email protected]m
Website
www.leddartech.com

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Document Conventions
This document uses the following conventions.
Name of Menu >
Name of Window
Shows the access path to menus under each section of Leddar™ Configuration.
Arial bold
The name of buttons, menus, and dialog boxes are presented in bold.
Notes contain helpful suggestion and references to information included within
this user guide.
Warnings refers to a warning or an important information to follow.

Page 13 of 109 Leddar T16 –User Guide
Label Explanation and Safety Information
Table 1: Explanation of Labels on the Sensor
Label
Location on
the Sensor
Description
Model
Serial Number
On the back of
the sensor
Part number (PN) starting with
75A and Serial Number (SN).
This information is useful when
contacting LeddarTech support.
1.1. Regulatory Compliance
Table 2: Regulatory Compliance
Ingress Protection
IP67
Ocular Safety
IEC 62471 2006 criteria: Exempt lamp classification
FCC
Part 15, Subpart B, Class A
This device complies with part 15 of the FCC Rules. Operation is
subject to the following two conditions: (1) This device may not cause
harmful interference, and (2) this device must accept any interference
received, including interference that may cause undesired operation.
ICES-003
Class A
This Class A digital apparatus complies with Canadian ICES-003.
CE
Yes

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Introduction
2.1. Definitions
Table 3: Definitions
Term
Definition
Active grid
Sensing area of a sensor. The active grid measures the range of detected
objects and must be centered on the zones that need to be monitored. It is
represented by an overlay of the live video window (Traffic configuration
only).
Amplitude
Measure of the signal strength.
AR
Anti-reflective
Area of interest
The area that needs to be monitored.
Camera
The camera in the sensor that provides video and images used for viewing
the detection area (area of interest).
Channel
Synonym of “segment”. See the definition of the word segment.
Crosstalk
Phenomenon by which a signal transmitted in one segment creates an
undesired effect in an adjacent segment.
Depth of the
detection zone
Distance along the y axis (road) within which the sensor will detect a
vehicle.
Detection
Object detected in one segment.
Detections include at least the following data: Segment identification,
distance measurement, and the intensity of the backscattered light of the
object.
FOV
Field of View.
Opening angle
The angle of the detection zone.
Time of Flight
Refer to section 2.2 Underlying Principles and LiDAR Fundamentals for
more details.
Segment
A segment is defined by a horizontal index in the FOV. Synonym of
“channel”.

Page 15 of 109 Leddar T16 –User Guide
2.2. Underlying Principles and LiDAR Fundamentals
Created by LeddarTechTM Inc., Leddar™ (light-emitting diode detection and ranging) is a unique
sensing technology based on LED illumination (infrared spectrum) and the time-of-flight of light
principle. The LED emitters illuminate the area of interest and the multi-segment sensor receiver
collects the backscattered light and measures the time taken for the light to return to the sensor.
A photodetector array is used and provides multiple detection and ranging segments. Full-
waveform analysis enables detection and distance measurement of multiple objects in each
segment as illustrated in Figure 1, provided that foreground objects do not fully obscure objects
behind them.
Figure 1: Time of Flight

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2.3. Key Factors for Best Sensor Performance
The following factors are important to consider for obtaining the best operating performance.
Table 4: Key Factors for Best Performance
Key Factors
Description
Size of the target
The larger the target, the higher is the range.
The smaller the target, the lower is the range.
Reflectivity of the target
With a high surface reflectivity, the range is higher.
With a low surface reflectivity, the range is lower.
Position of the target within
the FOV
With centered channels (segments), the range is higher.
With outer channels (segments), the range is lower.

Page 17 of 109 Leddar T16 –User Guide
Description
This user guide is intended to provide information on and describe the LeddarTM T16 Solid-State
LiDAR Traffic Sensor (hereinafter referred to as “Leddar T16”) for developers, integrators and/or
engineers.
The LeddarTM T16 Traffic Sensor is a 2D solid-state LiDAR that is specifically designed for traffic
management systems from city to highway applications. Packaged in a weatherproof housing, the
Leddar T16 offers cost efficient and highly accurate detection for various Intelligent Transportation
System (ITS) applications, such as electronic tolling, traffic monitoring and traffic law enforcement.
At the heart of the sensor resides the patented Leddar digital signal processing technology, which
provides superior detection, location and measurement capabilities for all types of traffic, including
vehicles, pedestrians and cyclists. The Leddar T16 measures both the distance and angular
positioning for each detected target. Its collected data enables functionalities, such as vehicle
profiling, speed measurement, and traffic data collection.
The Leddar T16’s flash illumination emitted by its LED sources covers the sensor’s complete field
of view. Capturing the return echoes of these diffused light pulses through 16 independent active
detection elements at a high acquisition rate, the Leddar T16 Traffic Sensor continuously provides
rapid and accurate detection and ranging in the entire beam without any moving mechanical parts.
The returned signals are digitized and processed through innovative algorithms, allowing the
reliable detection and measurement of a wide range of objects under the most challenging
environmental conditions, such as rain, snow and fog.
Keep this user guide for future reference.
3.1. Equipment Designation and Description
Table 5: Equipment Designation
This document refers to all models described below unless otherwise mentioned.
Family Name
Leddar T16
Model
Solid-State LiDAR Traffic Sensor
Configurations
Traffic and Tolling Sensors

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Table 6: Leddar T16 Sensor Traffic and Tolling Configurations
Leddar T16
Traffic
Options
9° (75A0030-1)
•Pan and Tilt
•Camera
•Enclosure
sunshade
19° (75A0021-1)
26° (75A0022-1)
36° (75A0023-1)
Leddar T16
Tolling
Options
9° (75A0025-1)
•AR coated window
•Lens shield
•No enclosure
sunshade
•No pan and tilt
•No camera
19° (75A0026-1)
26° (75A0027-1)
36° (75A0028-1)
48° (75A0029-1)
The Leddar T16 Sensor comes with the following software and accessories.
•LeddarTM Configuration and Software Development Kit (SDK)
•Ethernet connector kit. Refer to Appendix B for more details.
Table 7: Ethernet Cable Description
Ethernet Connector Kit
Description
Cat5e RJ45 shielded connector (with load bars),
IP67 industrial modular connector and yellow strain
relief boot.

Page 19 of 109 Leddar T16 –User Guide
3.1.1. Key Components
Receiver
Emitter
•Receiver Lens
•Light Emitter
•Diffuser lens
Figure 2, Figure 3, and Figure 4 below show the Leddar T16 Sensor key components.

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Figure 2: Front View of the Leddar T16 Traffic Sensor
Figure 3: Front View of the Leddar T16 Tolling Sensor
LED emitters (8)
Receiver
Camera
Enclosure
sunshade
LED emitters (8)
Receiver