Wide-view LIDAR with areas of special attention

Patent metadata

Field	Value
Publication number	US-10871779-B2
Application number	US-201816190300-A
Country	US
Kind code	B2
Filing date	Nov 14, 2018
Priority date	Sep 26, 2012
Publication date	Dec 22, 2020
Grant date	Dec 22, 2020

Abstract

A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.

First claim

The invention claimed is:

1. A method, comprising:
controlling a light detection and ranging (LIDAR) device, wherein the LIDAR device is configured to emit light pulses into an environment of the LIDAR device, wherein controlling the LIDAR device comprises changing a time interval between successive light pulses emitted by the LIDAR device from a first time interval to a second time interval,
wherein changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval comprises changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval during a 360-degree scan of the environment based on information about the environment, wherein the information about the environment is based on a previous scan of the environment by the LIDAR device.

2. The method of claim 1 , wherein the second time interval is less than the first time interval.

3. The method of claim 1 , wherein the second time interval is greater than the first time interval.

4. The method of claim 1 , wherein controlling the LIDAR device further comprises changing the time interval between successive light pulses emitted by the LIDAR device from the second time interval to the first time interval.

5. The method of claim 1 , wherein the first time interval defines a first pulse rate and the second time defines a second pulse rate.

6. The method of claim 5 , wherein controlling the LIDAR device further comprises:
causing the LIDAR device to emit light pulses at the first pulse rate during a first period of time; and
causing the LIDAR device to emit light pulses at the second pulse rate during a second period of time.

7. The method of claim 6 , wherein the LIDAR device scans a first portion of the environment during the first period of time and scans a second portion of the environment during the second period of time.

8. The method of claim 6 , further comprising:
generating a point cloud representation of at least a portion of the environment based on reflections of light pulses emitted at the first pulse rate during the first period of time and reflections of light pulses emitted at the second pulse rate during the second period of time.

9. The method of claim 1 , wherein changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval further comprises changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval based on one or more thermal characteristics of the LIDAR device.

10. A system, comprising:
a light detection and ranging (LIDAR) device, wherein the LIDAR device is configured to emit light pulses into an environment of the LIDAR device; and
a controller configured to control the LIDAR device by at least controlling a time interval between successive light pulses emitted by the LIDAR device during a 360-degree scan of the environment based on information about the environment, wherein the information about the environment is based on a previous scan of the environment by the LIDAR device.

11. The system of claim 10 , wherein the controller is further configured to control the time interval between successive light pulses emitted by the LIDAR device based on one or more thermal characteristics of the LIDAR device.

12. The system of claim 10 , wherein controlling the time interval between successive light pulses emitted by the LIDAR device comprises changing the time interval between successive light pulses emitted by the LIDAR device from a first time interval to a second time interval.

13. The system of claim 12 , wherein the second time interval is less than the first time interval.

14. The system of claim 12 , wherein the second time interval is greater than the first time interval.

15. The system of claim 12 , wherein the first time interval defines a first pulse rate and the second time interval defines a second pulse rate.

16. The system of claim 15 , wherein the controller is further configured to control the LIDAR device by at least:
causing the LIDAR device to emit light pulses at the first pulse rate during a first period of time; and
causing the LIDAR device to emit light pulses at the second pulse rate during a second period of time.

17. The method of claim 1 , wherein the LIDAR device is configured to rotate while emitting light pulses.

18. The system of claim 10 , wherein the LIDAR device is configured to rotate while emitting light pulses.

Assignees

• Waymo Llc

Inventors

• Templeton Bradley
• Droz Pierre-Yves
• Zhu Jiajun

Classifications

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/249

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title