LIDAR detection scheme for cross traffic turns

Patent metadata

Field	Value
Publication number	US-10215859-B2
Application number	US-201815861024-A
Country	US
Kind code	B2
Filing date	Jan 3, 2018
Priority date	Sep 20, 2016
Publication date	Feb 26, 2019
Grant date	Feb 26, 2019

Abstract

A LIDAR system for use in a vehicle may include at least one processor configured to control at least one light source in a manner enabling light flux of light to vary over a scanning cycle of a field of view. The processor may also be configured to control at least one deflector to deflect light to scan the field of view. The processor may also be configured to obtain input indicative of an impending cross-lane turn of the vehicle, and in response, coordinate the control of the at least one light source with the control of the at least one light deflector to increase light flux on a side of the vehicle opposite a direction of the cross-lane turn, causing a detection range opposing the direction of the cross-lane turn of the vehicle to temporarily exceed a detection range toward a direction of the cross-lane turn.

First claim

What is claimed is:

1. A LIDAR system for use in a vehicle, the LIDAR system comprising:
at least one processor configured to:
control at least one light source in a manner enabling light flux of light from at least one light source to vary over a scanning cycle of a field of view;
control at least one deflector to deflect light from the at least one light source in order to scan the field of view;
obtain input indicative of an impending cross-lane turn of the vehicle; and
in response to the input indicative of the impending cross-lane turn, coordinate the control of the at least one light source with the control of the at least one light deflector to increase, relative to other portions of the field of view, light flux on a side of the vehicle opposite a direction of the cross-lane turn and encompassing a far lane of traffic into which the vehicle is merging, and causing a detection range opposing the direction of the cross-lane turn of the vehicle to temporarily exceed a detection range toward a direction of the cross-lane turn.

2. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the at least one light deflector such that during a scanning cycle of the field of view the at least one light deflector is moved through a plurality of instantaneous positions.

3. The LIDAR system of claim 2 , wherein the at least one processor is configured to coordinate the at least one light deflector and the at least one light source such that when the at least one light deflector is located at a particular instantaneous position, a portion of a light beam is deflected by the at least one light deflector from the at least one light source towards an object in the field of view, and reflections of the portion of the light beam from the object are deflected by the at least one light deflector toward at least one sensor.

4. The LIDAR system of claim 2 , further comprising a plurality of light sources aimed at the at least one light deflector, wherein the at least one processor is further configured to control the at least one light deflector such that when the at least one light deflector is located at a particular instantaneous position, light from the plurality of light sources is projected towards a plurality of independent regions in the field of view.

5. The LIDAR system of claim 1 , wherein the at least one processor is further configured to receive the input indicative of the impending cross-lane turn from a navigation system of the vehicle.

6. The LIDAR system of claim 1 , wherein the at least one processor is further configured to determine the input indicative of the impending cross-lane turn based on information received from at least one sensor configured to detect reflections associated with the light projected from the at least one light source.

7. The LIDAR system of claim 1 , wherein the at least one processor is further configured to determine, based on the increased light flux on the side of the vehicle opposite a direction of the cross-lane turn, a velocity of a moving object in the far lane of traffic.

8. The LIDAR system of claim 7 , wherein the at least one processor is further configured to trigger an alert if the vehicle and the moving object are determined to be on a collision course.

9. The LIDAR system of claim 7 , wherein the at least one processor is further configured to generate a reflectivity image of the field of view, wherein the reflectivity image includes a fingerprint of the moving object representing an amount of light reflected from various portions of the moving object.

10. The LIDAR system of claim 9 , wherein the at least one processor is further configured to compare fingerprints of the moving object from a plurality of scanning cycles with a plurality of reflectivity templates to determine that the moving object is a vehicle signaling a right turn.

11. The LIDAR system of claim 1 , wherein the at least one processor is further configured to apply a differing power allocation scheme for right turns than for left turns.

12. The LIDAR system of claim 1 , wherein the at least one processor is further configured to receive input indicative of a current driving environment and to apply a different power allocation scheme for cross-lane turns in a rural area than for cross-lane turns in an urban area.

13. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control at least two light sources and at least two deflectors in a manner enabling scanning a first field of view associated with a right side of the vehicle and a second field of view associated with a left side of the vehicle.

14. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the at least one light source such that an amount of light projected toward a first portion of the field of view including a road onto which the vehicle is merging is greater than a second portion of the field of view including a building adjacent the road.

15. A method for detecting objects in an environment of a vehicle using LIDAR, the method comprising:
controlling at least one light source in a manner enabling light flux of light from at least one light source to vary over a scanning cycle of a field of view;
controlling at least one deflector to deflect light from the at least one light source in order to scan the field of view;
obtaining input indicative of an impending cross-lane turn of the vehicle; and
in response to the input indicative of the impending cross-lane turn, coordinating the control of the at least one light source with the control of the at least one light deflector to increase, relative to other portions of the field of view, light flux on a side of the vehicle opposite a direction of the cross-lane turn and encompassing a far lane of traffic into which the vehicle is merging, and causing a detection range opposing the direction of the cross-lane turn of the vehicle to temporarily exceed a detection range toward a direction of the cross-lane turn.

16. The method of claim 15 , further comprising receiving the input indicative of the impending cross-lane turn from a navigation system of the vehicle.

17. The method of claim 15 , further comprising determining, based on the increased light flux on the side of the vehicle opposite a direction of the cross-lane turn, a velocity of a moving object in the far lane of traffic.

18. The method of claim 17 , further comprising generating a reflectivity image of the field of view, wherein the reflectivity image includes a fingerprint of the moving object representing an amount of light reflected from various portions of the moving object.

19. The method of claim 18 , further comprising comparing fingerprints of the moving object from a plurality of scanning cycles with a plurality of reflectivity templates to determine that the moving object is a vehicle signaling a right turn.

20. A vehicle, comprising:
a vehicle body;
at least one processor located within the vehicle body and configured to:
control at least one light source in a manner enabling light flux of light from at least one light source to vary over a scanning cycle of a field of view;
control at least one deflector to deflect light from the at least one light source in order to scan the field of view;
obtain input indicative of an impending cross-lane turn of the vehicle; and
in response to the input indicative of the impending cross-lane turn, coordinate the control of the at least one light source with the contr

Assignees

• Innoviz Tech Ltd
• Innoivz Tech Ltd

Inventors

• Steinberg Amit
• Osiroff Nir
• Rosenzweig Oren

Classifications

• G01S17/04

  Systems determining the presence of a target · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S7/4817 Primary

  relating to scanning · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• B60Q1/0023

  the element being a sensor, e.g. distance sensor, camera · CPC title