A system for light ranging and detection (LiDAR) integrated with vehicle light fixtures is provided. The system includes one or more light sources configured to generate transmission light; a window; and a steering mechanism. The steering mechanism is controlled to: steer a detection portion of the transmission light toward a field-of-view (FOV) of the LiDAR via the window, and receive return light formed based on the detection portion of the transmission light in the FOV. A non-detection portion of the transmission light is transmitted in a visible light spectrum to a field-of-illumination (FOI) via the window.
A system for light ranging and detection (LiDAR) integrated with vehicle light fixtures is provided. The system includes one or more light sources configured to generate transmission light; a window; and a steering mechanism. The steering mechanism is controlled to: steer a detection portion of the transmission light toward a field-of-view (FOV) of the LiDAR via the window, and receive return light formed based on the detection portion of the transmission light in the FOV. A non-detection portion of the transmission light is transmitted in a visible light spectrum to a field-of-illumination (FOI) via the window.
A device for transceiver alignment in the LiDAR system is provided. The device comprises a detector package and a plurality of detector elements mounted to the detector package. The device further comprises one or more light forming markers mounted to the detector package at predetermined positions with respect to the plurality of detector elements. The predetermined positions of the one or more light forming markers are configured to facilitate alignment of each of the plurality of detector elements to a corresponding transmitter channel of a plurality of transmitter channels.
A device for transceiver alignment in the LiDAR system is provided. The device comprises a detector package and a plurality of detector elements mounted to the detector package. The device further comprises one or more light forming markers mounted to the detector package at predetermined positions with respect to the plurality of detector elements. The predetermined positions of the one or more light forming markers are configured to facilitate alignment of each of the plurality of detector elements to a corresponding transmitter channel of a plurality of transmitter channels.
A method for reducing interference in a light ranging and detection (LiDAR) system is provided. The method comprises receiving noise by a light detector of the LiDAR system, determining whether the received noise is caused by interference from at least one other LiDAR system, and in accordance with a determination that the detected noise is caused by interference from the at least one other LiDAR system, de- synchronizing the LiDAR system with the at least one other LiDAR system.
A method for reducing interference in a light ranging and detection (LiDAR) system is provided. The method comprises receiving noise by a light detector of the LiDAR system, determining whether the received noise is caused by interference from at least one other LiDAR system, and in accordance with a determination that the detected noise is caused by interference from the at least one other LiDAR system, de-synchronizing the LiDAR system with the at least one other LiDAR system.
A light scanning device comprises a rotatable polygon-shaped structure comprising a frame, a plurality of mirror bonding plates configured to reflect light, and one or more flexures. At least some mirror bonding plates of the plurality of mirror bonding plates are adjustably attached to the frame based on corresponding flexures of the one or more flexures. A plurality of adjustment mechanisms is inserted between the frame and corresponding mirror bonding plates of the plurality of mirror bonding plates, where the plurality of adjustment mechanisms is configured to adjust tilt angles of the corresponding mirror bonding plates.
A depth sensor is provided. The depth sensor comprises one or more light sources configured to provide a plurality of light beams; and one or more optical structures coupled to the one or more light sources. The one or more optical structures are configured to receive the plurality of light beams. At least one of the one or more light sources or the one or more optical structures are configured to unevenly distribute the plurality of light beams in a vertical field-of-view (FOV) such that the vertical FOV comprises a dense area and a sparse area. The dense area of the vertical FOV has a higher beam density than the sparse area of the vertical FOV, and the depth sensor comprises no mechanically movable parts configured to scan light.
A light scanning device comprises a rotatable polygon-shaped structure comprising a frame, a plurality of mirror bonding plates configured to reflect light, and one or more flexures. At least some mirror bonding plates of the plurality of mirror bonding plates are adjustably attached to the frame based on corresponding flexures of the one or more flexures. A plurality of adjustment mechanisms is inserted between the frame and corresponding mirror bonding plates of the plurality of mirror bonding plates, where the plurality of adjustment mechanisms is configured to adjust tilt angles of the corresponding mirror bonding plates.
G02B 26/12 - Scanning systems using multifaceted mirrors
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
10.
UNEVENLY DISTRIBUTED ILLUMINATION FOR DEPTH SENSOR
A depth sensor is provided. The depth sensor comprises one or more light sources configured to provide a plurality of light beams; and one or more optical structures coupled to the one or more light sources. The one or more optical structures are configured to receive the plurality of light beams. At least one of the one or more light sources or the one or more optical structures are configured to unevenly distribute the plurality of light beams in a vertical field-of-view (FOV) such that the vertical FOV comprises a dense area and a sparse area. The dense area of the vertical FOV has a higher beam density than the sparse area of the vertical FOV, and the depth sensor comprises no mechanically movable parts configured to scan light.
An optical scanning device for light ranging and detection (LiDAR) is provided. The optical scanning device comprises a rotatable polygon reflector having a plurality of reflective facets. The rotatable polygon reflector is configured to rotate about a first rotation axis in a first rotation direction. The optical scanning device further comprises one or more fluid circulation devices disposed alongside the rotatable polygon reflector or attached to the rotatable polygon reflector. The one or more fluid circulation devices are configured to rotate about a second rotation axis to form a fluid circulation surrounding the plurality of reflective facets of the rotatable polygon reflector. The fluid circulation is at least partially in the first rotation direction.
A laser device for providing light to a LiDAR system comprises a plurality of seed lasers configured to provide multiple seed light beams, at least two of the seed light beams having different wavelengths. An amplifier is optically coupled to the plurality of seed lasers to receive the multiple seed light beams. A power pump is configured to provide pump power to the amplifier, where the amplifier amplifies the multiple seed light beams using the pump power to obtain amplified light beams. A second light coupling unit is configured to demultiplex the amplified light beams to obtain a plurality of output light beams, at least two of the output light beams having wavelengths corresponding to the wavelengths of the at least two seed light beams.
A LiDAR system having two-dimensional transmitter array is provided. The LiDAR system comprises a light scanner, and a plurality of transmitter groups optically couplable to the light scanner. Each transmitter group of the plurality of transmitter groups comprises a plurality of transmitters. At least two transmitter groups of the plurality of transmitter groups are disposed at different positions with respect to the light scanner, such that scanning areas corresponding to the at least two transmitter groups are different. The LiDAR further comprises a control device configured to selectively control one or more of the plurality of transmitter groups to emit transmission beams toward the light scanner. The light scanner is configured to steer the transmission beams both vertically and horizontally to a field-of-view (FOV), and receive return light formed based on the steered transmission beams.
A light ranging and detection (LiDAR) system is provided. The system comprises a housing; a transmitter configured to transmit one or more light beams; and a beam steering apparatus optically coupled to the transmitter to receive the one or more light beams. The beam steering apparatus comprises one or more moveable optics configured to scan the one or more light beams to a field-of-view and to receive return light. The system further comprises a curved window mounted to, or integrated with, the housing of the LiDAR system. The curved window is shaped in a manner such that a thickness of the curved window varies along one or more dimensions of the curved window to facilitate bending at least some of the scanned one or more light beams to expand the field-of-view (FOV) in at least one of a horizontal direction or a vertical direction.
A system for reducing or eliminating wavelength variations of laser light is provided. The system comprises a semiconductor-based laser source emitting laser light, an optical scanner, and one or more optical elements disposed between the laser source and the optical scanner. The optical scanner is configured to direct the laser light to a field-of-view. The one or more optical elements are configured to direct the laser light from the laser source to the optical scanner. The system further comprises a grating structure mounted to, or integrated with, an optical element of the one or more optical elements. One or more characteristics of the grating structure are configured to reduce or eliminate wavelength variations of the laser light caused by variations of one or more operational conditions of the laser source.
A light ranging and detection (LiDAR) system is provided. The LiDAR system comprises metasurface-based optics. The system comprises a transmitter comprising one or more transmitter optics. The transmitter is configured to provide one or more transmission light beams. The system further comprises a beam steering apparatus optically coupled to the transmitter. The beam steering apparatus comprises one or more steering optics configured to: scan the one or more transmission light beams in at least one of a horizontal and a vertical directions to a field-of-view, and direct return light formed based on the scanned one or more transmission light beams. The system further comprises a receiver comprising one or more receiver optics. At least one of the one or more transmitter optics, the one or more steering optics, and the one or more receiver optics comprise the one or more metasurface-based optics.
A radiant heating device for removing and preventing condensation on an aperture window of a light ranging and detection (LiDAR) system is disclosed. The device comprises at least one electromagnetic radiation emitter emitting electromagnetic radiation of one or more frequencies. The electromagnetic radiation radiates at least one aperture surface of the aperture window of the LiDAR system. A portion of the electromagnetic radiation of one or more frequencies is absorbed by the aperture window of the LiDAR system and converted to heat. And the one or more frequencies are different from all frequencies of detection light of the LiDAR system.
A light ranging and detection (LiDAR) system is provided. The LiDAR system comprises metasurface-based optics. The system comprises a transmitter comprising one or more transmitter optics. The transmitter is configured to provide one or more transmission light beams. The system further comprises a beam steering apparatus optically coupled to the transmitter. The beam steering apparatus comprises one or more steering optics configured to: scan the one or more transmission light beams in at least one of a horizontal and a vertical directions to a field-of-view, and direct return light formed based on the scanned one or more transmission light beams. The system further comprises a receiver comprising one or more receiver optics. At least one of the one or more transmitter optics, the one or more steering optics, and the one or more receiver optics comprise the one or more metasurface-based optics.
Embodiments of the present disclosure provide stray light filter structures in light detection and ranging (LiDAR) systems to attenuate stray light and reduce unwanted scattering. In some embodiments, a micro lens array is used together with a pinhole array to block stray light in the optical path just prior to the photodetector. In some embodiments, a bandpass optical filter is used in the optical path prior to the microlens array. In other embodiments, a slit filter is used further upstream in the optical path to block unwanted stray light and allow returning signal light to pass to imaging optics that provide a returning signal light image at a photodetector. In some embodiments, the imaging optics include a collimating lens and a focusing lens. In some embodiments, an optical bandpass filter is positioned on the optical path between the collimating lens and the focusing lens to reject light that is outside of a an expected wavelength range for returning signal light. These and other embodiments and details are further disclosed herein.
A computer-implemented method for compressing point cloud data obtained by a LiDAR system is provided. The method comprises obtaining uncompressed point cloud data. Each of the uncompressed point cloud data is represented by 3-dimensional coordinates identifying positions within a lield-of-view of the LiDAR system. At least one of the 3-dimensional coordinates is derived from a ToF measured by transmitting a light beam and receiving return light formed based on the transmitted light beam. The method further comprises identifying one or more sub-groups of the uncompressed point cloud data for compression. The method further comprises encoding the one or more sub-groups of the uncompressed, point cloud data using differential coordinates to obtain first encoded point cloud data, and providing the first encoded point cloud data to a processor to construct at least a part of a three-dimensional perception of the FOV.
A computer-implemented method for compressing point cloud data obtained by a LiDAR system is provided. The method comprises obtaining uncompressed point cloud data. Each of the uncompressed point cloud data is represented by 3-dimensional coordinates identifying positions within a field-of-view of the LiDAR system. At least one of the 3-dimensional coordinates is derived from a ToF measured by transmitting a light beam and receiving return light formed based on the transmitted light beam. The method further comprises identifying one or more sub-groups of the uncompressed point cloud data for compression. The method further comprises encoding the one or more sub-groups of the uncompressed point cloud data using differential coordinates to obtain first encoded point cloud data, and providing the first encoded point cloud data to a processor to construct at least a part of a three-dimensional perception of the FOV.
A low-profile LIDAR system is provided. The low-profile LiDAR system comprises a housing; a rotatable polygon mirror having a plurality of reflective facets; and a first oscillating mirror disposed laterally on one side of the rotatable polygon mirror. The first oscillating mirror is configured to direct one or more first transmission light beams to a first reflective facet of the rotatable polygon mirror. The LiDAR system may also include a second oscillating mirror disposed laterally on another side of the rotatable polygon mirror. The second oscillating mirror is configured to direct the one or more second transmission light beams to a second reflective facet. A combination of the first and second oscillating mirrors, and the rotatable polygon mirror is configured to: scan the first and second transmission light beams to a first field-of-view and a second field-of-view, respectively, and direct return light to one or more detectors.
A radiant heating device for removing and preventing condensation on an aperture window of a light ranging and detection (LiDAR) system is disclosed. The device comprises at least one electromagnetic radiation emitter emitting electromagnetic radiation of one or more frequencies. The electromagnetic radiation radiates at least one aperture surface of the aperture window of the LiDAR system. A portion of the electromagnetic radiation of one or more frequencies is absorbed by the aperture window of the LiDAR system and converted to heat. And the one or more frequencies are different from all frequencies of detection light of the LiDAR system.
A light detection and ranging (LiDAR) system in which multiple pump lasers are operated in polyphase fashion at a single pumping stage is disclosed. In some embodiments, the multiple pump lasers are operated by controllers that generate current pulses through the multiple pump lasers. The current pulses powering at least two of the pumping lasers have different phases. In some embodiments, the phase differences are such that there is no timing overlap in the current pulses through the pump lasers. In some embodiments, the phase difference between successive current pulses is greater than the pulse width such that the sum of the duty cycles of all the current pulses is less than one. In some embodiments, junction temperatures of pump lasers are monitored and temperature information from the monitoring is used to dynamically select which pump laser will be utilized at a given time. Further details of these and other embodiments are disclosed herein.
A system for multimodal detection is provided. The system comprises a light collection and distribution device configured to perform at least one of collecting light signals from a field-of-view (FOV) and distributing the light signals to a plurality of detectors. The light signals have a plurality of wavelengths comprising at least a first wavelength and a second wavelength. The system further comprises a multimodal sensor comprising the plurality of detectors. The plurality of detectors comprises at least a light detector of a first type and a light detector of a second type. The light detector of the first type is configured to detect light signals having a first light characteristic. The light detector of the first type is configured to perform distance measuring based on light signals having the first wavelength. The light detector of the second type is configured to detect light signals having a second light characteristic.
An electromagnetically-moveable scanner device (900) for performing light scan used in a light ranging and detection (LiDAR) system is provided. The device (900) comprises a platform (920), which comprises a film substrate. The platform (920) is pivotable about an axis. The device (900) further comprises a reflector (950) disposed on the platform (920), a plurality of magnets (941-946) disposed in proximity to one or more edges of the film substrate and detached therefrom, and one or more electrical windings (930) installed on the platform (920). At least a part of the electrical windings (930) is disposed underneath the reflector (950). When the one or more electrical windings (930) carry electric current, an interaction between magnetic fields formed by the plurality of the magnets (941-946) and the electrical windings (930) is operative to move the reflector (950) electromagnetically to scan a field-of-view along at least one direction.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A dual emitting co-axial light detection and ranging (LiDAR) system is provided. The LiDAR system comprises a first light source configured to provide a first light beam, a second light source configured to provide a second light beam, a light detector configured to detect return light, one or more optical elements configured to transmit the first light beam to a target in a field of view and to direct return light to the light detector, a first light detector configured to detect the return light and internally -reflected light, a second light detector configured to detect return light formed from the second light beam, and control circuitry configured to mitigate a blind-zone effect based on the detected return light formed from the second light beam. The one or more optical elements are disposed outside of a light path of the second light beam from the second light source.
A light detection and ranging (LiDAR) scanning system used with a moveable platform is provided. The LiDAR scanning system comprises one or more light sources; and one or more optical core assemblies optically coupled to the one or more light sources. At least one optical core assembly of the one or more optical core assemblies comprises: an optical core assembly enclosure at least partially disposed in the moveable platform; a plurality of optical polygon elements, and one or more moveable reflective elements. The combination of the plurality of optical polygon elements and the one or more moveable reflective elements form one or more light steering devices operative to scan one or more field-of-views of the LiDAR system. The plurality of optical polygon elements, the one or more moveable reflective elements, and at least one of transmitting and receiving optics are disposed within the optical core assembly enclosure.
A method for dynamically calibrating a light detector of a light detection and ranging (LiDAR) system is disclosed. The method comprises obtaining an indication for use. The method further comprises determining, based on the indication, whether to perform the calibration of the light detector operating with a first bias voltage. The method further comprises, in accordance with a determination to perform the calibration, initiating a multiple-point calibration of the light detector across a bias voltage scanning range, wherein the multiple-point calibration comprises determining a second bias voltage corresponding to a current temperature in an operating environment of the light detector. The method further comprises determining, based on the multiple-point calibration, whether to update the first bias voltage based on the second bias voltage.
A Light Detection and Ranging (LiDAR) system is disclosed. The LiDAR system comprises a light source configured to provide transmission light signals in a plurality of firing cycles. The LiDAR system comprises a detector configured to detect return signals formed based on the transmission light signals. The LiDAR system comprises an analog-to-digital converter (ADC) configured to obtain ADC data representing the detected return signals. The LiDAR system further comprises one or more processors and memory device, and processor-executable instructions stored in the memory device. The processor-executable instructions can cause the one or more processors to perform: determining a multiple-point time window using the ADC data; based on the multiple-point time window, determining an offset of the ADC data; at least partially correcting the ADC data based on the offset; and providing the corrected ADC data for constructing a point cloud representing an external environment of the LiDAR system.
A method for calculating time-of-flight on a LiDAR system is provided. The method comprises transmitting outgoing light pulses to a beam steering system that redirects the outgoing light pulses to a field of view of the LiDAR system; detecting return pulses corresponding to the outgoing light pulses; obtaining an intensity of a return pulse of the detected return pulses; determining whether the intensity of the return pulse is within an intensity threshold; and based on the determination, selecting a pulse-center based method or a pulse-edge based method for measuring a time-of-flight between the return pulse and the corresponding outgoing light pulse. The time-of-flight is a time lapse between a timing of the return pulse and a timing of the corresponding outgoing light pulse. The method further comprises measuring the time-of-flight based on the selected method.
A fault-detection system for detecting fault in a LiDAR system mounted on a vehicle is provided. The LiDAR system is configured to provide point cloud data of an external environment of the vehicle in accordance with a LiDAR coordinate system. The fault-detection system includes processor-executable instructions which comprise instructions for: obtaining a vehicle speed; obtaining conversion parameters used for converting from the LiDAR coordinate system to a vehicle coordinate system; determining whether the vehicle speed exceeds a vehicle speed threshold; in accordance with a determination that the vehicle speed exceeds the vehicle speed threshold, obtaining a representation of a road surface plane (1212) expressed in the vehicle coordinate system; obtaining a representation of a native horizontal plane (1211) provided by the vehicle; and determining whether a fault in the LiDAR system has occurred based on the representation of the road surface plane (1212) and the representation of the native horizontal plane (1211). After the conversion, the deviation angle (1213) between the new, converted road surface plane (1212) and the vehicle's native horizontal plane (1211) can be calculated. Preferably, a plurality of reference points (1221-1223) is selected on a road surface from the point cloud data to derive the road surface plane (1212). Points representing vehicle (802) correspond to a vertical range of 5° to 10° within the FOV of the vehicle where the LiDAR system is mounted. The x-y-z axes represent a vehicle coordinate system. Detecting faults in real-time is possible.
A compact perception device for an autonomous driving system is disclosed. The compact perception device includes a lens configured to collect both visible light and near infrared (NIR) light to obtain collected light including collected visible light and collected NIR light. The device further includes a first optical reflector optically coupled to the lens. The first optical reflector is configured to reflect one of the collected visible light or the collected NIR light, and pass the collected light that is not reflected by the first optical reflector. The device further includes an image sensor configured to detect the collected visible light directed by the first optical reflector to form image data; and a depth sensor configured to detect the collected NIR light directed by the first optical reflector to form depth data.
A Light Detection and Ranging (LiDAR) scanning system, having a window blockage detector, aids in delivering reliable point cloud data associated with surroundings during instances of window blockage. A laser source within the system may generate one or more beams of light transmitted through a window, scanning the surroundings for external objects. The window blockage detector couples to receive scattered light from the window, as well as returning light from an object in the path of one or more light beams. From the scattered and returning light pulses, the window blockage detector having a thresholding method determines a window state relative to a select one of the following states including, unblocked, blocked, and null; wherein the null state exists when the beam of light intersects an empty sky or a highly absorbent object. Thereby, the LiDAR system provide a more accurate picture of a vehicles surrounding.
Light detection and ranging (LiDAR) systems use light pulses to create an image or point cloud of an environment. This LiDAR system and method having data encoding and compression improves the efficiency and communication reliability of point cloud data using data encoding and compression. After receiving return light pulse reflected by an object in the FOV, the system converts the detected optical signal data into raw data for the purpose of generating trigger data, encoder data, and time synchronization data from the raw data. The system further configures output data in a compressed format using the least amount of bits to carry the same amount of information defining point cloud data describing an external environment and the computational load is reduced. The compressed format comprises a data set for one baseline channel and differential channel data for one or more channels based upon the baseline channel.
A light detection and ranging (LiDAR) system for scanning and reconfiguring regions-of- interest (ROIs) is provided. The system comprises a LiDAR scanner configured to scan a current set of ROIs within a field-of-view (FOV), and a LiDAR perception sub-system coupled to the LiDAR scanner. The LIDAR perception sub-system includes instructions for: obtaining sensor data provided at least by the LiDAR scanner; deriving one or more current perceptions based on the sensor data; obtaining one or more predefined perception policies; determining one or more policy-based ROI candidates; determining whether an RO I reconfiguration request is provided, based on a vehicle perception decision; determining one or more request-based ROI candidates based on the ROI reconfiguration request; and determining a next set of ROIs for the LiDAR scanner to scan based on the current set of ROIs, and one or both of the one or more policy-based ROI candidates and the one or more request-based ROI candidates.
A motorized optical scanner device (700) of a Light Detection and Ranging (LiDAR) scanning system used in a motor vehicle is disclosed. The motorized optical scanner device (700) comprises a glass-based optical reflector (702) including a plurality of reflective surfaces (704A-E) and a flange (902). The rotatable optical reflector device further comprises an adjustment ring (908) and a metal-based motor rotor body (904) at least partially disposed in an inner opening (920) of the glass-based optical reflector (702). The flange (902) extends from an inner sidewall (912) of the glass-based optical reflector (702) towards the metal-based motor rotor body (904). The flange (902) includes a first mounting surface (922) that is in contact with the adjustment ring (908). The motorized optical scanner device (700) further comprises a plurality of fastening mechanisms (804). The plurality of fastening mechanisms (804) facilitates applying adjustment forces to the adjustment ring (908) to reduce wobble associated with rotation of the glass-based optical reflector (702). When center of a polygon mirror is not perfectly in-line with its center of rotation, tilt angles of polygon facets may change in the process of angular rotation, and the polygon mirror may wobble. During the wobble adjustment process, at least two fastening mechanisms (804), e.g., adjustment screws, may be installed into at least two selected threaded holes (930) in motor assembly (910) to apply adjustment forces, e.g., pushing forces, to the adjustment ring (908) to reduce wobble.
A light detection and ranging (LiDAR) system (800) for detecting objects in blind-spot areas is provided. The system comprises a housing, a scanning-based LiDAR assembly (810), such as one comprising a multi-facet polygon mirror, disposed in the housing, and a non-scanning-based LiDAR assembly (820), such as a flash LiDAR, also disposed in the housing. The scanning based LiDAR assembly (810) scans a plurality of light beams to illuminate a first field-of-view, FOV, (850). The non-scanning-based LiDAR assembly (820) transmits laser light to illuminate a second FOV (860) without scanning. The scanning-based LiDAR assembly's detection distance range extends beyond the detection distance range of the non-scanning-based LiDAR assembly. Window (805) facilitates the transmission of light to and from assemblies (810) and (820). To detect objects in blind-spot areas outside a particular LiDAR's FOV, a LiDAR system needs to have both a long detection range and a large vertical FOV. The vertical FOVs of scanning-based LiDAR assembly (810) and non-scanning-based LiDAR assembly (820) overlaps by 5°, depicted by area (870), resulting in the overall vertical FOV of LiDAR system (800) to be -10° to 90°. Lines (861) and (862) intersect with ground (866) at points (863) and (864), respectively. To detect near-distance objects (890) within a large vertical FOV, assembly (820) needs to aim downwards. Scanning-based LiDAR assembly (810) can detect distanced object (880) located more than 100 meters away.
A light detection and ranging, LiDAR, system (800) for detecting objects in blind-spot areas is provided. The system comprises a housing (810) and a scanning-based LiDAR assembly disposed in the housing. The scanning-based LiDAR assembly includes a first light source (871), a multi-facet polygon (820), window (830), collimation lenses (860), combining mirror (850), opening (852), collection lenses (840), a light detector (881), laser circuit board (870), and detector circuit board (880). The first light source (871) provides a plurality of light beams. The multi-facet polygon (820) is rotatable to scan the plurality of light beams to illuminate an FOV. The multi-facet polygon (820) and the first light source (810) are vertically stacked, preferably the first light source (810) on top of the multi-facet polygon (820). The collimation lenses (860) are optically coupled to the first light source (810), and collimate the plurality of light beams (890). The one or more collection lenses (840) collect return light (895) generated based on the illumination of the first FOV. The light detector (881) receives the collected return light (895). Polygon mirror (820) has four wedged facets of variable tilt angle. To detect objects in blind-spot areas of a vehicle, a LiDAR system needs to have both a long detection range and a large vertical FOV. LiDAR system (800) thus preferably further includes a non-scanning-based flash LiDAR assembly based on a different wavelength, also enclosed in housing (810) to keep a compact design.
Embodiments discussed herein refer to an integrated mirror motor galvanometer. The integrated mirror motor galvanometer repurposes a rotor of a motor to include at least one mirror face that redirects the light pulses interfacing therewith. This way, when the rotor oscillates along its range of rotation, the at least one mirror face also oscillates.
An apparatus of a light detection and ranging (LiDAR) scanning system for at least partial integration with a vehicle is disclosed. The apparatus comprises an optical core assembly including an oscillating reflective element, an optical polygon element, and transmitting and collection optics. The apparatus includes a first exterior surface at least partially bounded by at least a first portion of a vehicle roof or at least a portion of a vehicle windshield. A surface profile of the first exterior surface aligns with a surface profile associated with at least one of the first portion of the vehicle roof or the portion of the vehicle windshield. A combination of the first exterior surface and the one or more additional exterior surfaces form a housing enclosing the optical core assembly including the oscillating reflective element, the optical polygon element, and the transmitting and collection optics.
A light detection and ranging (LiDAR) scanning system for at least partial integration with a vehicle roof is disclosed. The system comprises one or more optical core assemblies at least partially integrated with the vehicle roof and positioned proximate to one or more pillars of the vehicle roof. At least one optical core assembly comprises an oscillating reflective element, an optical polygon element, and transmitting and collection optics. At least a portion or a side surface of the at least one optical core assembly protrudes outside of a planar surface of the vehicle roof to facilitate scanning of hght. The portion of the at least one optical core assembly that protrudes outside of the planar surface of the vehicle roof also protrudes in a vertical direction by an amount corresponding to a lateral arrangement of the optical polygon element, the oscillating reflective element, and the transmitting and collection optics.
A light detection and ranging (LiDAR) scanning system is disclosure. In one embodiment, the system includes an optical refraction device coupled to a first actuator configured to oscillate the optical refraction device. The system further includes a mirror optically coupled to the optical refraction device and coupled to a second actuator configured to oscillate the mirror. The system further includes one or more controllers communicatively coupled to the first and second actuators. The controllers are configured to control oscillation of the optical refraction device and oscillation of the mirror to steer one or more light beams both vertically and horizontally to illuminate one or more objects within a field-of-view, obtain return light, the return light being generated based on the steered one or more light beams illuminating the one or more objects within the field-of-view, and redirect the return light to a collection lens disposed in the system.
A method for performing dynamic pulse control of a fiber laser in a light detection and ranging (LiDAR) scanning system is provided. The method comprises switching pump power that is deliverable to a first power amplification medium carrying seed laser light having a first triggering frequency; and adjusting the seed laser light to have a second triggering frequency different from the first triggering frequency. Switching of the pump power and adjusting of the seed laser light are timed to occur at different times having a first time difference.
H01S 3/091 - Processes or apparatus for excitation, e.g. pumping using optical pumping
H01S 3/094 - Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light
H01S 3/102 - Controlling the intensity, frequency, phase, polarisation or direction of the emitted radiation, e.g. switching, gating, modulating or demodulating by controlling the active medium, e.g. by controlling the processes or apparatus for excitation
H01S 3/13 - Stabilisation of laser output parameters, e.g. frequency or amplitude
45.
TRANSMITTER CHANNELS OF LIGHT DETECTION AND RANGING SYSTEMS
A LiDAR system comprising a plurality of transmitter channels is provided. The LiDAR system comprises a light source providing a light beam and a collimation lens optically coupled to the light source to form a collimated light beam based on the light beam. The LiDAR system further comprises an optical beam splitter configured to form a plurality of output light beams based on the collimated light beam. The optical characteristics of the optical beam splitter are configured to facilitate forming the plurality of output light beams with substantially equal light intensity. The optical characteristics comprise one or more of transmission, reflection, and diffraction characteristics.
A multiple stage optical amplification device in a light detection and ranging (LiDAR) scanning system is provided. The system comprises a first power amplification stage receiving seed laser light and outputting first amplified laser light; a second power amplification stage receiving the first amplified laser light and outputting a second amplified laser light; and a single optical power pump coupled to the second power amplification stage. The second power amplification stage is configured to amplify the first amplified laser light to generate the second amplified laser light. A first portion of pump power provided by the optical power pump is deliverable to the first power amplification stage to amplify the seed laser light.
A light detection and ranging system is provided. The system includes a Galvanometer mirror; a multiple-facet light steering device; and a controller device comprising one or more processors, memory, and processor-executable instructions stored in memory. The processor-executable instructions comprise instructions for receiving a first movement profile of the Galvanometer mirror of the LiDAR scanning system; receiving calibration data of the multiple-facet light steering device of the LiDAR scanning system; generating a second movement profile of the Galvanometer mirror based on the calibration data and the first movement profile; and providing one or more control signals to adjust movement of the Galvanometer mirror based on the second movement profile.
A light detection and ranging (LiDAR) scanning system is provided. The system comprises a light steering device; a galvanometer mirror controllable to oscillate between two angular positions; and a plurality of transmitter channels configured to direct light to the galvanometer mirror. The plurality of transmitter channels are separated by an angular channel spacing from one another. The system further comprises a control device. Inside an end-of- travel region, the control device controls the galvanometer mirror to move based on a first mirror movement profile. Outside the end-of-travel region, the control device controls the galvanometer mirror to move based on a second mirror movement profile. The second mirror movement profile is different from the first mirror-movement profile. Movement of the galvanometer mirror based on the first mirror movement profile facilitates minimizing instances of scanlines corresponding to the end-of-travel region having a pitch exceeding a first target pitch.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 26/12 - Scanning systems using multifaceted mirrors
49.
SYSTEMS AND APPARATUSES FOR MITIGATING LIDAR NOISE, VIBRATION, AND HARSHNESS
An isolation system for a light detection and ranging (LiDAR) optical core assembly is provided. The LiDAR optical core assembly comprises a polygon-motor rotating element, an oscillating reflective element, and transmitting and collection optics. The isolation system comprises a polygon-motor base element coupled to the polygon-motor rotating element and a plurality of isolators substantially fixed to the polygon-motor base element and disposed relative to each other around a spatial location determined based on a center of gravity of at least one of the optical core assembly and the polygon-motor rotating element. The plurality of isolators is adapted to mitigate acoustic noise caused by at least the polygon-motor rotating element during operation of the optical core assembly.
A compact LiDAR device is provided. The compact LiDAR device includes a first mirror disposed to receive one or more light beams and a polygon mirror optically coupled to the first mirror. The polygon mirror comprises a plurality of reflective facets. For at least two of the plurality of reflective facets, each reflective facet is arranged such that: a first edge, a second edge, and a third edge of the reflective facet correspond to a first line, a second line, and a third line; the first line and the second line intersect to form a first internal angle of a plane comprising the reflective facet; and the first line and the third line intersect to form a second internal angle of the plane comprising the reflective facet. The first internal angle is an acute angle; and the second internal angle is an obtuse angle.
An embodiment of a light detection and ranging (LiDAR) system configured for performing far-distance road surface detection is provided. The LiDAR system comprises one or more processors; memory; and one or more programs stored in the memory. The one or more programs include instructions for obtaining LiDAR detection data samples and determining, based on a sliding time window, a maximum signal intensity associated with the LiDAR detection data samples. The one or more programs include further instructions for determining, based on the maximum signal intensity, whether the LiDAR detection data samples correspond to a far-distance road surface detection. In accordance with a determination that the LiDAR detection data samples correspond to a far-distance road surface detection, the one or more programs include further instructions for providing far-distance road surface detection data for controlling movement of a vehicle.
A LiDAR system is provided. The LiDAR system comprises a plurality of transmitter channels and a plurality of receiver channels. The plurality of transmitter channels are configured to transmit a plurality of transmission light beams to a field-of-view at a plurality of different transmission angles, which are then scanned to cover the entire field-of-view. The LiDAR system further comprises a collection lens disposed to receive and redirect return light obtained based on the plurality of transmission light beams illuminating one or more objects within the field-of-view. The LiDAR system further comprises a plurality of receiver channels optically coupled to the collection lens. Each of the receiver channels is optically aligned based on a transmission angle of a corresponding transmission light beam. The LiDAR system further comprises a plurality of detector assemblies optically coupled to the plurality of receiver channels.
A rotatable optical reflector device of a Light Detection and Ranging (LiDAR) scanning system used in a motor vehicle is disclosed. The rotatable optical reflector device comprises a glass-based optical reflector including a plurality of reflective surfaces and a flange. The rotatable optical reflector device further comprises a metal-based motor rotor body at least partially disposed in an inner opening of the glass-based optical reflector. The rotatable optical reflector device further comprises an elastomer piece having a first surface and a second surface. The first surface of the elastomer piece is in contact with a second mounting surface of the flange. The rotatable optical reflector device further comprises a clamping mechanism compressing the elastomer piece at the second surface of the elastomer piece, wherein movement of the metal-based motor rotor body causes the glass-based optical reflector to optically scan light in a field-of-view of the LiDAR scanning system.
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