Tunable LiDAR for simultaneous ranging and environmental monitoring

Patent metadata

Field	Value
Publication number	US-11385352-B2
Application number	US-201816048079-A
Country	US
Kind code	B2
Filing date	Jul 27, 2018
Priority date	Jul 27, 2018
Publication date	Jul 12, 2022
Grant date	Jul 12, 2022

Abstract

In one embodiment, a method includes emitting, by an automotive vehicle, one or more light beams from a LiDAR system toward an environment surrounding the automotive vehicle, receiving one or more return light beams at the LiDAR system of the automotive vehicle, detecting one or more objects located in the environment surrounding the automotive vehicle based on the return light beams, and simultaneously measuring one or more air characteristics of the environment surrounding the automotive vehicle. The simultaneous detecting of the one or more objects and measuring of the one or more air characteristics may be performed by the LiDAR system. The method may further include sending, by the automotive vehicle, location information to a server associated with vehicle navigation, and sending information of the detected objects and measured air characteristics to the server associated with vehicle navigation, the server configured to update a vehicle-navigation map based on the information.

First claim

What is claimed is:

1. A method comprising, by a fleet management system managing a plurality of collectively-managed vehicles:
instructing (i) a first vehicle to navigate to at least one geographic area for emitting a first light beam at a first wavelength from a first light detection and ranging (LiDAR) system associated with the first vehicle, and (ii) a second vehicle to navigate to the at least one geographic area for emitting a second light beam at a second wavelength from a second LiDAR system associated with the second vehicle, wherein:
the first and second light beams are respectively emitted from the first and second LiDAR systems towards at least one environment including one or more objects external to the first and second vehicles; and
one or more return light beams are received via the first and second LiDAR systems, the one or more return light beams corresponding to reflections of the first and second light beams by the one or more objects;

receiving one or more air characteristics of the at least one environment, wherein the one or more air characteristics are determined based on the one or more return light beams corresponding to reflections of the first and second light beams by the one or more objects;
determining, based on the one or more air characteristics of the at least one environment, updated routing information for one or more of the plurality of collectively-managed vehicles in the at least one geographic area; and
causing instructions for navigating the one or more of the plurality of collectively-managed vehicles to be transmitted to the one or more of the plurality of collectively-managed vehicles based on the updated routing information.

2. The method of claim 1 , wherein the first and second LiDAR systems are used in a detecting of at least one object of the one or more objects and a measuring of the one or more air characteristics.

3. The method of claim 1 , wherein the one or more air characteristics comprise measurements of characteristics of one or more trace gases or measurements of characteristics of one or more aerosol particles in an air surrounding the first and second vehicles.

4. The method of claim 3 , wherein the measurements of the characteristics of the one or more trace gases comprise measurements of a presence or density of the one or more trace gases.

5. The method of claim 3 , wherein the measurements of the characteristics of the one or more aerosol particles comprise measurements of a size, density, or type of particles of the aerosol particles.

6. The method of claim 3 , wherein the first and second LiDAR systems are each tuned to measure the characteristics of the one or more trace gases or the characteristics of the one or more aerosol particles by emitting one or more light beams at one or more wavelengths associated with the one or more trace gases or the one or more aerosol particles.

7. The method of claim 1 , wherein the first wavelength of the first light beam and the second wavelength of the second light beam are different and within different absorption bands associated with different trace gases or aerosol particles.

8. The method of claim 1 , wherein two light beams of two different wavelengths are emitted by the LiDAR system, the two light beams being disposed in close proximity to each other such that backscatter coefficients for the two light beams are approximately identical.

9. The method of claim 8 , wherein three light beams of three different wavelengths are emitted by the first LiDAR system, and
wherein at least one of the three light beams is emitted to measure temperature.

10. The method of claim 1 , further comprising:
receiving information of a detected at least one object of the one or more objects in the at least one environment;
determining further updated routing information for the one or more of the plurality of collectively-managed vehicles based on the received information; and
causing instructions for navigating the one or more of the plurality of collectively-managed vehicles to be transmitted to the one or more of the plurality of collectively-managed vehicles based on the further updated routing information.

11. A fleet management system for managing a plurality of collectively-managed vehicles, the fleet management system comprising: one or more processors and one or more computer-readable non-transitory storage media in communication with the one or more processors, the one or more computer-readable non-transitory storage media comprising instructions that when executed by the one or more of the processors, cause the system to perform operations comprising:
instruct (i) a first vehicle to navigate to at least one geographic area for emitting a first light beam at a first wavelength from a first light detection and ranging (LiDAR) system associated with the first vehicle, and (ii) a second vehicle to navigate to the at least one geographic area for emitting a second light beam at a second wavelength from a second LiDAR system associated with the second vehicle, wherein:
the first and second light beams are respectively emitted from the first and second LiDAR systems towards at least one environment including one or more objects external to the first and second vehicles; and
one or more return light beams are received via the first and second LiDAR systems, the one or more return light beams corresponding to reflections of the first and second light beams by the one or more objects;

receive one or more air characteristics of the at least one environment, wherein the one or more air characteristics are determined based on the one or more return light beams corresponding to reflections of the first and second light beams by the one or more objects;
determine, based on the one or more air characteristics of the at least one environment, updated routing information for one or more of the plurality of collectively-managed vehicles in the at least one geographic area; and
cause instructions for navigating the one or more of the plurality of collectively-managed vehicles to be transmitted to the one or more of the plurality of collectively-managed vehicles based on the updated routing information.

12. The system of claim 11 , wherein the first and second LiDAR systems are used in a detecting of the at least one object of the one or more objects and a measuring of the one or more air characteristics.

13. The system of claim 11 , wherein the one or more air characteristics comprise measurements of characteristics of one or more trace gases or measurements of characteristics of one or more aerosol particles in an air surrounding the first and second vehicles.

14. The system of claim 13 , wherein the first and second LiDAR systems are each tuned to measure the characteristics of the one or more trace gases or the characteristics of the one or more aerosol particles by emitting one or more light beams at one or more wavelengths associated with the one or more trace gases or the one or more aerosol particles.

15. The system of claim 11 , wherein the operations further comprise:
receive information of a detected at least one object of the one or more objects in the at least one environment;
determine further updated routing information for the one or more of the plurality of collectively-managed vehicles based on the received information; and
cause instructions for navigating the one or more of the plurality of collectively-managed vehicles to be transmitted to the one or more of the plurality of collectively-managed based on the further updated routing information.

16. One or more computer-readable non-tr

Assignees

• Lyft Inc

Inventors

• Abari Farzad Cyrus Foroughi

Classifications

• G01N15/1434

  Optical arrangements · CPC title

• G01S17/95

  for meteorological use · CPC title

• G01S17/87 Primary

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01C21/3415 Primary

  Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents · CPC title

• G01N2015/1493

  Particle size · CPC title