Dynamic mode of operation based on driving environment

Patent metadata

Field	Value
Publication number	US-10241207-B2
Application number	US-201815860969-A
Country	US
Kind code	B2
Filing date	Jan 3, 2018
Priority date	Sep 20, 2016
Publication date	Mar 26, 2019
Grant date	Mar 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 at least one light source to vary over scans of a field of view. The processor may also be configured to control at least one light deflector to deflect light from the at least one light source in order to scan the field of view. The processor may also be configured to receive input indicative of a current driving environment of the vehicle, and based on the current driving environment, coordinate the control of the at least one light source with the control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light across the scan of the field of view.

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 at least one light source to vary over scans of a field of view;
control at least one light deflector to deflect light from the at least one light source in order to scan the field of view;
receive input indicative of a current driving environment of the vehicle; and
based on the current driving environment, coordinate the control of the at least one light source with the control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light across the scan of the field of view.

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 single scanning cycle the at least one light deflector is moved through a plurality of different instantaneous positions.

3. The LIDAR system of claim 2 , wherein the at least one processor is further 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 are deflected from the object toward at least one sensor.

4. The LIDAR system of claim 2 , further comprising a plurality of light sources aimed at a common area of 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 forming the field of view.

5. The LIDAR system of claim 2 , wherein the at least one processor is further configured to dynamically adjust the instantaneous detection distance in the single scanning cycle, such that a detection distance in a first portion of the field of view is increased from a prior scanning cycle and a detection distance in a second portion of the field of view is decreased from the prior scanning cycle.

6. The LIDAR system of claim 2 , wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one light deflector in at least one scanning cycle to dynamically adjust an instantaneous point resolution associated with a first portion of the field of view.

7. The LIDAR system of claim 2 , wherein the at least one processor is further configured to, based on the current driving environment, coordinate control of the at least one light source and the at least one light deflector in a plurality of scanning cycles to dynamically adjust a first rate of scanning cycles for detecting objects in a near-field portion of the field of view and a second rate of scanning cycles for detecting objects in a far-field portion of the field of view.

8. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the at least one light source based on an environment type corresponding to the received input indicative of the current driving environment.

9. The LIDAR system of claim 1 , wherein the received input includes at least one of a rural-related indication and an urban-related indication.

10. The LIDAR system of claim 9 , wherein the at least one processor is further configured to determine when the vehicle is in an urban area, and to coordinate control of the at least one light source control and the at least one light deflector in order to cause an increase rate of scanning cycles as compared to a rate of scanning cycles used in a non-urban area.

11. The LIDAR system of claim 1 , wherein the received input includes information associated with a light condition.

12. The LIDAR system of claim 11 , wherein the at least one processor is further configured to determine when the vehicle exits a tunnel, and to coordinate control of the at least one light source and the at least one light deflector in order to increase light emission in at least one portion of the field of view as compared to a light emission used in the at least one portion when the vehicle was in the tunnel.

13. The LIDAR system of claim 1 , wherein the received input includes information associated with a weather condition.

14. The LIDAR system of claim 13 , wherein the at least one processor is further configured to determine when the vehicle drives in rain, and to adjust a sensitivity mode associated with output from at least one sensor to dismiss reflections of rain drops.

15. The LIDAR system of claim 1 , wherein the at least one processor is further configured to receive the input indicative of the current driving environment from at least one of: a GPS, a vehicle navigation system, a vehicle controller, a radar, a LIDAR, and a camera.

16. A method for detecting objects in a path of a vehicle using LIDAR, the method comprising:
controlling at least one light source in a manner enabling light flux of the at least one light source to vary over scans of a field of view;
controlling at least one light deflector to deflect light from the at least one light source in order to scan the field of view;
receiving input indicative of a current driving environment of the vehicle; and
based on the current driving environment, coordinating the control of the at least one light source control with the control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light across the scan of the field of view.

17. The method of claim 16 , further comprising dynamically adjusting the instantaneous detection distance in a single scanning cycle, such that a detection distance in a first portion of the field of view is increased from a prior scanning cycle and a detection distance in a second portion of the field of view is decreased from the prior scanning cycle.

18. The method of claim 16 , further comprising coordinating the control of the at least one light source control with control of the at least one light deflector to dynamically adjust an instantaneous point resolution associated with a first portion of the field of view.

19. The method of claim 16 , further comprising coordinating the control of the at least one light source with the control of the at least one light deflector to dynamically adjust a first rate of scanning cycles for detecting an object in a near-field portion of the field of view and to dynamically adjust a second rate of scanning cycles for detecting an object in a far-field portion of the field of view.

20. The method of claim 16 , wherein the received input including at least one rural-related indication, urban-related indication, information associated with a light condition, information associated a weather condition, and information associated with a velocity of the vehicle.

21. 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 the at least one light source to vary over scans o

Assignees

• Innoviz Tech Ltd

Inventors

• Rosenzweig Oren
• Steinberg Amit
• Zohar Guy
• Osiroff Nir
• Keilaf Omer David
• Buskila Oren

Classifications

• G01S17/931

  of land vehicles · CPC title

• G01S17/04

  Systems determining the presence of a target · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S7/4817 Primary

  relating to scanning · CPC title

• G01S7/4861

  Circuits for detection, sampling, integration or read-out · CPC title