Lidar system that is configured to compute ranges with differing range resolutions

Patent metadata

Field	Value
Publication number	US-11428813-B2
Application number	US-201816233936-A
Country	US
Kind code	B2
Filing date	Dec 27, 2018
Priority date	Dec 20, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

A lidar system is described herein. The lidar system includes a transmitter that is configured to emit a frequency-modulated lidar signal. The lidar system further includes processing circuitry that is configured to compute a distance between the lidar system and an object based upon the frequency-modulated lidar signal, the processing circuitry configured to compute the distance with a first resolution when the distance is at or beneath a predefined threshold, the processing circuitry configured to compute the distance with a second resolution when the distance is above the predefined threshold, wherein the first resolution is different from the second resolution.

First claim

What is claimed is:

1. A lidar system, comprising:
a transmitter that is configured to emit a frequency-modulated lidar signal, the frequency-modulated lidar signal includes a piecewise linear frequency up-chirp, where the piecewise linear frequency up-chirp includes a first portion having a first frequency slope with respect to time immediately followed by a second portion having a second frequency slope with respect to time that is different from the first frequency slope, wherein the first frequency slope corresponds to a first distance range and the second frequency slope corresponds to a second distance range; and
a receiver that is configured to compute a distance between an object and the lidar system, wherein the lidar system is configured to compute the distance with a first resolution when the object is within the first distance range, wherein the lidar system is configured to compute the distance with a second resolution when the object is within the second distance range, wherein the first resolution is based upon the first frequency slope and the second resolution is based upon the second frequency slope, and further wherein the lidar system is configured to update the non-overlapping ranges and corresponding resolutions for the ranges as the distance between the object and the lidar system changes over time.

2. The lidar system of claim 1 , wherein a first size of the first range and a second size of the second range are based upon a first length of time of the first portion and a second length of time of the second portion, respectively.

3. The lidar system of claim 2 , wherein the first portion is adjacent to the second portion in the piecewise linear frequency up-chirp.

4. The lidar system of claim 3 , wherein the first range is adjacent to the second range.

5. The lidar system of claim 4 , wherein R x represents a point in time in the piecewise linear frequency up-chirp when the first portion ends and the second portion starts, and further wherein the transmitter is configured to alter the point in time represented by R x based upon the distance between the object and the lidar system.

6. The lidar system of claim 5 , further comprising a computing system that is configured to track positions of the object over time based upon distances computed by the receiver, and further wherein the computing system causes the transmitter to alter the point in time represented by R x based upon the tracked positions of the object over time.

7. The lidar system of claim 6 , wherein the computing system causes the transmitter to alter the point in time represented by R x such that the first size of the first range is decreased and the first resolution is increased.

8. The lidar system of claim 1 , wherein the receiver is operably coupled to a computing system of an autonomous vehicle (AV), and further wherein the computing system of the AV controls at least one of a steering system, a braking system, or a propulsion system based upon the distance computed by the receiver.

9. An autonomous vehicle (AV) comprising:
a lidar system that is configured to output distances to an object in a field of view of the lidar system, wherein the lidar system comprises a transmitter that is configured to output a frequency-modulated lidar signal that comprises a piecewise linear frequency up-chirp, wherein the piecewise linear frequency up-chirp comprises a first portion that is immediately followed by a second portion, the first portion having a first slope and the second portion having a second slope; and
a computing system that is configured to:
track positions of the object over time based upon the distances output of the lidar system;
cause the lidar system to update non-overlapping ranges and corresponding resolutions for the ranges based upon the positions of the object tracked over time by the computing system, wherein the lidar system is configured to output a distance to the object with a first resolution when the object is within a first range and is further configured to output the distance to the object with a second resolution when the object is within a second range that is non-overlapping with the first range, wherein the lidar system outputs the distance to the object based upon the frequency-modulated lidar signal, wherein the first resolution is based upon the first slope and the second resolution is based upon the second slope, and further wherein causing the lidar system to update the non-overlapping ranges and corresponding range resolutions comprises updating sizes of the first range and the second range and updating resolutions for the first range and the second range.

10. The AV of claim 9 , wherein the computing system is further configured to control at least one of a steering system, a braking system, or a propulsion system based upon the distance to the object output by the lidar system.

11. The AV of claim 9 , wherein the first portion ends and the second portion begins within the piecewise linear frequency up-chirp at a point in time that is represented by R x , and further wherein a size of the first range is based upon the point in time represented by R x .

12. The AV of claim 11 , wherein the frequency-modulated lidar signal comprises a sequence of piecewise linear frequency up-chirps, and further wherein causing the lidar system to update the non-overlapping ranges and corresponding resolutions for the non-overlapping ranges comprises causing the lidar system to alter a position of the point in time represented R x in different piecewise linear frequency up-chirps in the sequence of piecewise linear frequency up-chirps.

13. A method performed by a lidar system, the method comprising:
emitting a first piecewise linear frequency up-chirp as a portion of a frequency-modulated lidar signal, wherein the first piecewise linear frequency up-chirp includes a first portion immediately followed by a second portion, the first portion having a first slope and the second portion having a second slope;
computing a first distance between the lidar system and an object based upon the first piecewise linear frequency up-chirp, wherein the first distance is computed with one of a first resolution or a second resolution depending upon the first distance between the lidar system and the object;
emitting a second piecewise linear frequency up-chirp as a second portion of the frequency-modulated lidar signal, wherein the second piecewise linear up-chirp includes a third portion immediately followed by a fourth portion, the third portion having a third slope and the fourth portion having a fourth slope, wherein the first slope, the second slope, the third slope, and the fourth slope are different from one another; and
computing a second distance between the lidar system and the object based upon the second piecewise linear frequency up-chirp, wherein the second distance is computed with one of a third resolution or a fourth resolution depending upon the second distance between the lidar system and the object, wherein the first resolution, the second resolution, the third resolution, and the fourth resolution are different from one another.

14. The method of claim 13 , further comprising:
prior to emitting the second piecewise linear frequency up-chirp, defining, based upon the first distance, a point in the second piecewise linear up-chirp where the third portion ends and the fourth portion begins; and
emitting the second piecewise linear frequency up-chirp responsive to defining the point.

15. The method of claim 13 , wherein the first resolution is more granular than the third resolution.

16. The

Assignees

• Gm Cruise Holdings Llc

Inventors

• Singer Scott
• Maleki Lutfollah
• Standridge Alexander Charles
• Chakrabarty Ayan

Classifications

• B60W2710/06

  Combustion engines, Gas turbines · CPC title

• G01S7/4911

  Transmitters · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• G01S7/4861

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