Leddar T16 User manual

Leddar™T16
Solid-State LiDAR
Traffic Sensor
USER GUIDE
TF ID 013722
Model shown: Leddar™ T16 “Traffic” sensor

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© 2021 LeddarTech Inc. All rights reserved.
The information contained herein is the property of the Company and shall not be reproduced in whole or in
part without the prior written approval of the Company.
Leddar, LeddarTech, LeddarSteer, LeddarEngine, LeddarVision, LeddarSP, LeddarCore, VAYADrive,
VayaVision, XLRator and related logos are trademarks or registered trademarks of LeddarTech Inc. All other
brands, product names and marks are or may be trademarks or registered trademarks used to identify
products or services of their respective owners.
Please contact a LeddarTech sales representative if you have any questions regarding the information
contained in this document or regarding LeddarTech products. For the most recent version of this document,
visit LeddarTech’s website. We also highly recommend that you read our Standard Sales Terms and
Conditions, Product Warranty and End-User License Agreement carefully. Documentation available at
www.leddartech.com, section “Resources.”
Leddar™ Configuration software: this software is based in part on the work of the Independent JPEG Group.
Keep this User Guide for future reference.

4 | 72 © 2021 LeddarTech Inc.
DISCLAIMER
LeddarTech®shall not be liable for any errors or omissions herein or for any damages arising out of or related
to this document or the information contained herein, even if LeddarTech has been advised of the possibility
of such damages.
Descriptions of products, including, but not limited to, specifications and drawings, and other related
information contained in this document, are provided only to illustrate their operation and application
examples. The illustrations shown, including screen captures, may differ from the appearance of the actual
product.
LeddarTech has made every effort to ensure that the information contained in the documentation
accompanying its products, including, without limitation, its Specification Sheet, is accurate. However,
LeddarTech will not be liable for any errors or omissions therein and reserves the right to modify the design
and characteristics of products at any time without notice. For the most recent version of any product
documentation, visit LeddarTech’s website at www.leddartech.com. In case of discrepancy, the web version
takes precedence over any printed literature.
LeddarTech may expressly designate certain products as completing a particular qualification (e.g., AEC-
Q100). Customer agrees that it has the necessary expertise to select the product with the appropriate
qualification designation for its applications and that proper product selection is at customer’s own risk. The
customer is solely responsible for compliance with all legal and regulatory requirements in connection with
such selection.
LeddarTech does not control the installation and use of its products and shall have no liability if a product is
used for an application for which it is not suited. LeddarTech’s products are not recommended or authorized
for safety, life support, medical applications, applications involving hazardous, corrosive or radioactive
substances or for any use or application in which the failure of a component could cause personal injury,
loss of life or substantial harm to the environment or property. Where LeddarTech specifically promotes
products as facilitating functional safety or as compliant with functional safety standards, such products are
intended to help enable customers to design and create their own applications that meet applicable functional
safety standards and requirements. Using products in an application does not by itself establish any safety
features in the application.
Any technical advice provided by LeddarTech with reference to the use of its products is given without
assumption by LeddarTech of any liability, and LeddarTech assumes no obligation or liability for the advice
given or results obtained, all such advice being given and accepted at customer’s sole risk.
LeddarTech reserves the right to modify its products at any time, without notice, at its sole discretion. The
products’ performance specifications and operating parameters are determined in an independent state and
are not guaranteed to perform the same way if installed in a customer product.

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Table of Contents
1. LABELS AND SAFETY INFORMATION ........................................................................................ 13
1.1. LABELS........................................................................................................................................... 13
1.2. REGULATORY COMPLIANCE ............................................................................................................. 13
2. INTRODUCTION ............................................................................................................................. 14
2.1. DEFINITIONS ................................................................................................................................... 14
2.2. UNDERLYING PRINCIPLES AND LIDAR FUNDAMENTALS..................................................................... 15
2.3. KEY FACTORS FOR BEST SENSOR PERFORMANCE ........................................................................... 15
3. INTENDED USE AND DESCRIPTION............................................................................................ 16
3.1. EQUIPMENT DESIGNATION AND DESCRIPTION................................................................................... 16
3.2. KEY COMPONENTS.......................................................................................................................... 17
3.3. FRONT VIEW................................................................................................................................... 17
3.4. REAR VIEW..................................................................................................................................... 18
3.5. DISTANCE MEASUREMENT............................................................................................................... 19
4. SPECIFICATIONS........................................................................................................................... 20
4.1. GENERAL........................................................................................................................................ 20
4.2. MECHANICAL .................................................................................................................................. 20
4.2.1. Dimensions............................................................................................................................ 21
4.2.2. Distance Screw...................................................................................................................... 22
4.3. ELECTRICAL.................................................................................................................................... 23
4.4. ENVIRONMENTAL............................................................................................................................. 23
4.5. SOFTWARE SYSTEM REQUIREMENTS ............................................................................................... 24
5. INSTALLING THE LEDDAR T16 SENSOR ................................................................................... 24
5.1. INSTALLING AND ORIENTING THE SENSOR ........................................................................................ 24
5.2. CONNECTING THE LEDDAR T16 SENSOR.......................................................................................... 26
6. INSTALLING LEDDAR™ CONFIGURATION ................................................................................ 26
7. LEDDAR CONFIGURATION SOFTWARE..................................................................................... 29
7.1. MAIN WINDOW................................................................................................................................ 30
7.2. FILE MENU ..................................................................................................................................... 33
7.2.1. Recordings (.ltl File) .............................................................................................................. 34
7.2.2. Data Logging (.txt File) .......................................................................................................... 37
7.3. DEVICE MENU................................................................................................................................. 38
7.3.1. Configuration ......................................................................................................................... 39
7.4. VIEW MENU .................................................................................................................................... 44
7.4.1. Device State .......................................................................................................................... 44
7.4.2. Image Activation .................................................................................................................... 45

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7.4.3. Grid Activation ....................................................................................................................... 45
7.4.4. Raw Detections ..................................................................................................................... 46
7.4.5. Raw Detections Graph .......................................................................................................... 48
7.5. SETTINGS MENU ............................................................................................................................. 52
7.5.1. Record Settings ..................................................................................................................... 52
7.5.2. Data Logger........................................................................................................................... 53
7.5.3. Preferences ........................................................................................................................... 54
7.5.4. Access Level ......................................................................................................................... 55
7.6. HELP MENU.................................................................................................................................... 55
7.6.1. User Guide ............................................................................................................................ 55
7.6.2. Leddar SDK Help .................................................................................................................. 55
7.6.3. About ..................................................................................................................................... 55
8. COMMUNICATION PROTOCOL .................................................................................................... 56
9. TROUBLESHOOTING .................................................................................................................... 56
10. MAINTENANCE .............................................................................................................................. 57
11. DISPOSAL....................................................................................................................................... 57
12. TECHNICAL SUPPORT.................................................................................................................. 57
APPENDIX A. STATIC IP AND DHCP CONFIGURATION UNDER WINDOWS 7 AND UP ............... 58
APPENDIX B. MAKING CONNECTORS FOR THE ETHERNET CABLE ............................................ 61
APPENDIX C. USING LEDDARCDEMO (SDK CODE EXAMPLE) WITH THE LEDDAR T16 ........... 66

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Table of Figures
Fig. 1: Time of flight....................................................................................................................................... 15
Fig. 2: Leddar T16 “Traffic” Sensor front view .............................................................................................. 17
Fig. 3: Leddar T16 “Tolling” Sensor front view.............................................................................................. 18
Fig. 4: Leddar T16 “Traffic” Sensor rear view ............................................................................................... 18
Fig. 5: Leddar T16 “Tolling” Sensor rear view............................................................................................... 19
Fig. 6: Distance measurement ...................................................................................................................... 19
Fig. 7: Leddar T16 “Traffic” Sensor dimensions............................................................................................ 21
Fig. 8: Leddar T16 “Tolling” Sensor dimensions ........................................................................................... 21
Fig. 9: Leddar T16 “Traffic” Sensor top view – Distances between mounting threads ................................. 22
Fig. 10: Leddar T16 “Traffic” Sensor bottom view – Distances between mounting threads ......................... 22
Fig. 11: Leddar T16 “Tolling” Sensor bottom view – Distances between mounting threads ........................ 23
Fig. 12: Mounting position examples ............................................................................................................ 24
Fig. 13: Orienting the “Traffic” sensor with reference marks......................................................................... 25
Fig. 14: Sensor position adjustments............................................................................................................ 25
Fig. 15: Windows Security dialog box ........................................................................................................... 26
Fig. 16: Leddar Configuration opening window ............................................................................................ 27
Fig. 17: Connection window .......................................................................................................................... 27
Fig. 18: Warning message example ............................................................................................................. 29
Fig. 19: Leddar Configuration “Traffic” configuration main window .............................................................. 30
Fig. 20: Leddar Configuration “Tolling” configuration main window.............................................................. 30
Fig. 21: Record Settings window .................................................................................................................. 34
Fig. 22: Record Replay window upon opening ............................................................................................. 35
Fig. 23: Record Replay window with file open .............................................................................................. 36
Fig. 24: Extracted segment example ............................................................................................................ 37
Fig. 25: Data Log Settings dialog box ........................................................................................................... 38
Fig. 26: Device Name dialog box .................................................................................................................. 39
Fig. 27: Acquisition Settings dialog box ........................................................................................................ 40
Fig. 28: Network Settings window ................................................................................................................. 41
Fig. 29: Orientation Control window.............................................................................................................. 42
Fig. 30: Video Settings window ..................................................................................................................... 43
Fig. 31: Device State window........................................................................................................................ 45
Fig. 32: Raw Detections window ................................................................................................................... 46
Fig. 33: Raw Detections Graph example ...................................................................................................... 48
Fig. 34: Vertical scale setting areas (“Traffic” configuration) ........................................................................ 49
Fig. 35: Vertical scale setting areas (“Tolling” configuration)........................................................................ 49

8 | 72 © 2021 LeddarTech Inc.
Fig. 36: Horizontal scale setting areas (“Traffic” configuration) .................................................................... 50
Fig. 37: Horizontal scale setting areas (“Tolling” configuration).................................................................... 50
Fig. 38: Detection point coordinates (“Traffic” configuration) ........................................................................ 51
Fig. 39: Detection point coordinates (“Tolling” configuration) ....................................................................... 51
Fig. 40: Record Settings window .................................................................................................................. 52
Fig. 41: Data Log Settings dialog box ........................................................................................................... 53
Fig. 42: Preferences window......................................................................................................................... 54
Fig. 43: Enter Password dialog box .............................................................................................................. 55
Fig. 44: Changing adapter settings ............................................................................................................... 58
Fig. 45: Ethernet network option ................................................................................................................... 58
Fig. 46: Ethernet Properties window ............................................................................................................. 59
Fig. 47: IP address and subnet mask ........................................................................................................... 59
Fig. 48: Sensor connection to POE+ switch ................................................................................................. 60
Fig. 49: Ethernet properties........................................................................................................................... 60
Fig. 50: IP address and subnet mask ........................................................................................................... 60
Fig. 51: RJ45 industrial modular connector kit (sensor side of the Ethernet cable) ..................................... 61
Fig. 52: Ethernet cable with jacket stripped and plug housing...................................................................... 61
Fig. 53: Twisted pairs .................................................................................................................................... 62
Fig. 54: Cat 5e T568B wiring diagram .......................................................................................................... 62
Fig. 55: Wires in the load bar ........................................................................................................................ 63
Fig. 56: Trimming the wires........................................................................................................................... 63
Fig. 57: Inserting the load bar and wires into the RJ45 plug......................................................................... 64
Fig. 58: Crimping the RJ45 plug ................................................................................................................... 64
Fig. 59: RJ45 strain relief connector kit (other end of the Ethernet cable) ................................................... 65

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List of Tables
Table 1: Sensor labels .................................................................................................................................. 13
Table 2: Regulatory compliance information................................................................................................. 13
Table 3: Definitions ....................................................................................................................................... 14
Table 4: Key factors for best sensor performance ........................................................................................ 15
Table 5: Equipment designation ................................................................................................................... 16
Table 6: Leddar T16 configurations .............................................................................................................. 16
Table 7: Ethernet cable ................................................................................................................................. 17
Table 8: Key components ............................................................................................................................. 17
Table 9: Leddar T16 general specifications .................................................................................................. 20
Table 10: Test conditions and detection range ............................................................................................. 20
Table 11: Leddar T16 mechanical specifications.......................................................................................... 20
Table 12: Leddar T16 electrical specifications.............................................................................................. 23
Table 13: Leddar T16 environmental specifications ..................................................................................... 23
Table 14: Leddar Configuration system requirements .................................................................................. 24
Table 15: Connection window ....................................................................................................................... 28
Table 16: Main window menus and paths..................................................................................................... 31
Table 17: Main window toolbar ..................................................................................................................... 32
Table 18: File menu options.......................................................................................................................... 33
Table 19: Record Replay window ................................................................................................................. 36
Table 20: Device menu options .................................................................................................................... 38
Table 21: Acquisition Settings....................................................................................................................... 40
Table 22: Network Settings ........................................................................................................................... 41
Table 23: Video Settings ............................................................................................................................... 43
Table 24: Action icons................................................................................................................................... 43
Table 25: View menu options........................................................................................................................ 44
Table 26: Device State.................................................................................................................................. 45
Table 27: Raw Detections ............................................................................................................................. 46
Table 28: Flag values.................................................................................................................................... 47
Table 29: Settings menu options .................................................................................................................. 52
Table 30: Preferences window options and settings .................................................................................... 54

10 | 72 © 2021 LeddarTech Inc.
Version History
Version
Description
Date (YYYY-MM-DD)
54A0043_V1.0_EN
Initial release
2019-02-06
54A0043_V2.0_EN
•Reviewed section “Document Conventions”
•Tables 6 and 9: deleted 48° Traffic configuration
•Tables 10 and 11: modified detection ranges and added
notes
2019-03-28
54A0043_V3.0_EN
•Table 21: described new Static Threshold Activation and
Offset features
2020-04-24
54A0043_V3.1_EN
Updated Disclaimer information
2021-05-03
54A0043_V4.0_EN
•Updated to new User Guide template with minor
corrections throughout the text, including for consistency
•Complete reorganization of the document contents
2021-10-01

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Contact Information
LeddarTech Inc.
Address
Head Office
Production & Shipping
4535, boulevard Wilfrid-Hamel, Suite 240
Québec (Québec) G1P 2J7, Canada
4535, boulevard Wilfrid-Hamel, Suite 140
Québec (Québec) G1P 2J7, Canada
Phone
+ 1-418-653-9000
1-855-865-9900
8:30 a.m. –5:00 p.m. EST
Fax
+ 1-418-653-9099
Support
[email protected]
Website
www.leddartech.com

12 | 72 © 2021 LeddarTech Inc.
Document Conventions
This document uses the following conventions:
Name of menu >
name of the window
Shows the access path to menus under each section of the Leddar™
Configuration software.
Arial bold
The names of buttons, menus, dialog boxes and the elements of the interface are
in bold type.
Note: Contains helpful suggestions and references to information included within
this User Guide.
Warning: Refers to a warning or important information to follow.
This document uses the metric system (SI).

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1. Labels and Safety Information
1.1. Labels
Table 1: Sensor labels
Label
Location
Right side of sensor
Bottom side of sensor
1.2. Regulatory Compliance
Table 2: Regulatory compliance information
Compliance Feature
Description
Eye safety
IEC 62471:2006 (exempt lamp classification)
Ingress protection
IP67
Electromagnetic
compatibility
FCC Part 15, Subpart B, Class A
Class A digital apparatus. Complies with the Canadian Interference-Causing
Equipment Standard ICES-003.
CE
Compliant

14 | 72 © 2021 LeddarTech Inc.
2. 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
The amplitude is expressed in counts and represents the quantity of light reflected
and captured by the sensor. This measure defines the strength of the digital signal.
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
The phenomenon by which an optical or electrical signal transmitted in one
channel creates an undesired effect in an adjacent channel.
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 (also called “echoes”) include at least the following data: segment
identification, distance measurement and intensity of the backscattered light of the
object.
Flag
Information relative to detection quality (bit field)
FoV
Field of view
Opening angle
The angle of the detection zone
Segment
A vertical (V) and horizontal (H) index in the FoV. Synonym of “channel.”
Time of flight
Refer to section 2.2 below for more details.

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2.2. Underlying Principles and LiDAR Fundamentals
Created by LeddarTech, Leddar™ (light-emitting diode detection and ranging) is a unique sensing
technology based on the LED illumination (infrared spectrum) and the principle of a light’s time of flight. The
LED emitters illuminate the area of interest. 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 detections and ranging segments. Full-waveform
analysis enables the detection and distance measurement of multiple objects in each segment, as illustrated
in Fig. 1 below, provided that foreground objects do not fully obscure objects behind them.
Fig. 1: Time of flight
2.3. Key Factors for Best Sensor Performance
To obtain the best operating performance, the following factors are important to consider.
Table 4: Key factors for best sensor performance
Key Factor
Description
Size of the target
The larger the target, the longer the range.
The smaller the target, the shorter the range.
Reflectivity of the target
The range increases with the target’s reflectivity at the emission
wavelength.
Position of the target
within the FoV
With centered segments, the range is higher.
With outer segments, the range is lower.
Direct sunlight
Exposing the sensor to direct sunlight may affect performance levels of
the illuminated portion of the FoV, which may be caused by direct
sunlight.

16 | 72 © 2021 LeddarTech Inc.
3. Intended Use and Description
This User Guide is intended for developers, integrators and/or engineers. It provides information about the
Leddar™T16 Solid-State LiDAR Traffic Sensor (hereafter referred to as “the sensor” or “Leddar T16”).
The Leddar 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 ensures
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. The 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 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.
3.1. Equipment Designation and Description
Table 5: Equipment designation
Family
Leddar T16
Model
Solid-State LiDAR Traffic Sensor
Configurations
“Traffic” and “Tolling”
This document refers to all models described below unless otherwise mentioned.
Table 6: Leddar T16 configurations
Feature
“Tolling”
“Traffic”
Beam FoV options
10° to 48°
10° to 36°
IP67 enclosure
Anti-reflective window surface treatment
Leddar™Configuration software
Color image sensor (MPEG-4 video feedback)
Pan & Tilt actuator
Enclosure sunshade
The Leddar T16 Sensor comes with the following software and accessories:
•Leddar™Configuration and Software Development Kit (SDK)
•Ethernet connector kit (refer to Appendix B for more details)

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Table 7: Ethernet cable
Ethernet Connector Kit
Description
Cat5e RJ45 shielded connector (with load bars), IP67
industrial modular connector and yellow strain relief boot
3.2. Key Components
Table 8: Key components
Receiver
Emitter
•Receiver lens
•Light emitter
•Diffuser lens
3.3. Front View
Fig. 2: Leddar T16 “Traffic”Sensor front view
Enclosure sunshade
Receiver
LED emitters (8 x)
Camera

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Fig. 3: Leddar T16 “Tolling”Sensor front view
3.4. Rear View
Fig. 4: Leddar T16 “Traffic”Sensor rear view
Receiver
LED emitters (8 x)
Enclosure sunshade
Ethernet connector

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Fig. 5: Leddar T16 “Tolling”Sensor rear view
Brass inserts (two on the back and one on each side of the “Tolling” Sensor) are used to
fix the optional enclosure sunshade only.
3.5. Distance Measurement
Distance is measured from the screw located on the sides of the Leddar T16 Sensor casing.
Fig. 6: Distance measurement
The dashed lines illustrate 1 of the 16 segments and the solid line indicates the distance measured by the
sensor in that segment.
Protective vent
Ethernet connector
Brass inserts (4 x)

20 | 72 © 2021 LeddarTech Inc.
4. Specifications
4.1. General
Table 9: Leddar T16 general specifications
Description
Value
Number of segments
16
Horizontal x Vertical FOV
48° x 7.5°, 36° x 5.9°, 25° x 4.2°, 19° x 3.0°, 10° x 1.6°
Resolution
3.00°, 2.25°, 1.63°, 1.19°, 0.56°
Wavelength
940 nm
Number of segments
16
Measurement rate
196 Hz
Accuracy
±5 cm
Table 10: Test conditions and detection range
Model
Horizontal
FoV (°)
Vertical
FoV (°)
Detection Range (m)
Retroreflector1
White 90%2
Gray 18%3
NCAP Pedestrian 40%
Traffic
75A0030-1
10
1.6
49
39
19
49
75A0021-1
19
3.0
49
36
18
47
75A0022-1
25
4.2
49
18
12
27
75A0023-1
36
5.9
49
15
8
20
Tolling
75A0025-1
10
1.6
49
36
17
46
75A0026-1
19
3.0
49
32
16
42
75A0027-1
25
4.2
49
17
11
24
75A0028-1
36
5.9
49
13
7
18
75A0029-1
48
7.5
49
11
6
15
4.2. Mechanical
Table 11: Leddar T16 mechanical specifications
Description
“Tolling” Configuration
“Traffic” Configuration
Height
226 mm
208.7 mm
Length
386 mm
277 mm
Width
259 mm
252.4 mm
1
Retroreflector reference target corresponds to a 5 cm x 7 cm strip of reflective tape.
2
White reference target corresponds to a 20 cm x 25 cm Kodak gray card with 90% reflectivity.
3
Gray reference target corresponds to a 20 cm x 25 cm Kodak gray card with 18% reflectivity.