LIDAR system that generates a point cloud having multiple resolutions

Patent metadata

Field	Value
Publication number	US-11467287-B2
Application number	US-201916586080-A
Country	US
Kind code	B2
Filing date	Sep 27, 2019
Priority date	Sep 27, 2019
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

An autonomous vehicle having a LIDAR system mounted thereon or incorporated therein is described. The LIDAR system has N channels, with each channel being a light emitter/light detector pair. A computing system identifies M channels that are to be active during a scan of the LIDAR system, wherein M is less than N. The computing system transmits a command signal to the LIDAR system, and the LIDAR system performs a scan with the M channels being active (and N-M channels being inactive). The LIDAR system constructs a point cloud based upon the scan, and the computing system controls the autonomous vehicle based upon the point cloud.

First claim

What is claimed is:

1. An autonomous vehicle, comprising:
a LIDAR system that comprises N channels; and
a computing system in communication with the LIDAR system, wherein the computing system comprises:
a processor; and
memory that stores instructions that, when executed by the processor, cause the processor to perform acts comprising:
for a scan of the LIDAR system, identifying M channels that are to be active during the scan and N-M channels that are to be inactive during the scan, where N is greater than M; and
transmitting a command signal to the LIDAR system that causes the M channels to be active and the N-M channels to be inactive during the scan, wherein the LIDAR system generates a point cloud based upon the M channels being active and the N-M channels being inactive.

2. The autonomous vehicle of claim 1 , wherein N is 32 and M is 16.

3. The autonomous vehicle of claim 1 , wherein the point cloud comprises a first horizontal band and a second horizontal band that is non-overlapping with the first horizontal band, wherein the first horizontal band has a first resolution and the second horizontal band has a second resolution that is different from the first resolution.

4. The autonomous vehicle of claim 3 , the acts further comprising controlling a mechanical system of the autonomous vehicle based upon the point cloud.

5. The autonomous vehicle of claim 1 , wherein at least two of the M channels are vertically adjacent to one another on a spindle of the LIDAR system.

6. The autonomous vehicle of claim 1 , the acts further comprising:
identifying a region of interest in a field of view of the LIDAR system;
identifying an angular range in elevation with respect to the LIDAR system, wherein the angular range encompasses the region of interest, wherein the M channels are identified based upon the angular range in elevation with respect to the LIDAR system.

7. The autonomous vehicle of claim 6 , the acts further comprising:
identifying an object in the field of view of the LIDAR system based upon output of a sensor system of the autonomous vehicle, wherein the region of interest is identified based upon a location of the object identified in the field of view of the LIDAR system.

8. The autonomous vehicle of claim 1 , wherein the M channels are identified based upon a tilt of the LIDAR system relative to a horizontal plane.

9. The autonomous vehicle of claim 1 , wherein the M channels are identified based upon content of a three-dimensional map of an environment of the autonomous vehicle.

10. A method performed by a computing system of an autonomous vehicle, the method comprising:
for a scan of an N-channel LIDAR system of the autonomous vehicle, identifying M channels that are to be active during the scan and N-M channels that are to be inactive during the scan, where N is greater than M; and
transmitting a command signal to the N-channel LIDAR system that causes the M channels to be active and the N-M channels to be inactive during the scan, wherein the N-channel LIDAR system generates a point cloud based upon the M channels being active and the N-M channels being inactive.

11. The method of claim 10 , wherein N is 32 and M is 16.

12. The method of claim 10 , wherein the point cloud comprises a first horizontal band and a second horizontal band that is non-overlapping with the first horizontal band, wherein the first horizontal band has a first resolution and the second horizontal band has a second resolution that is different from the first resolution.

13. The method of claim 12 , further comprising controlling a mechanical system of the autonomous vehicle based upon the point cloud, the mechanical system being one of a propulsion system, a braking system, or a steering system.

14. The method of claim 10 , wherein at least two of the M channels are vertically adjacent to one another on a spindle of the N-channel LIDAR system.

15. The method of claim 10 , the acts further comprising:
identifying a region of interest in a field of view of the N-channel LIDAR system;
identifying an angular range in elevation with respect to the N-channel LIDAR system, wherein the angular range encompasses the region of interest, wherein the M channels are identified based upon the angular range in elevation with respect to the N-channel LIDAR system.

16. The method of claim 15 , further comprising:
identifying an object in the field of view of the N-channel LIDAR system based upon output of a sensor system of the autonomous vehicle, wherein the region of interest is identified based upon a location of the object identified in the field of view of the N-channel LIDAR system.

17. The method of claim 10 , wherein the M channels are identified based upon a tilt of the N-channel LIDAR system relative to a horizontal plane.

18. The method of claim 10 , wherein the M channels are identified based upon content of a three-dimensional map of an environment of the autonomous vehicle.

19. A spinning LIDAR system mounted on or incorporated in an autonomous vehicle, the spinning LIDAR system comprising:
N channels, wherein each channel is a light emitter/light detector pair, wherein the spinning LIDAR system is configured to:
receive a command signal from a computing system that is in communication with the LIDAR system, wherein the command signal includes identities of M channels in the N channels that are to be active during a scan of the LIDAR system;
performing the scan based upon the command signal, wherein during the scan the M channels identified in the command signal are active and remaining N-M channels are inactive; and
generating a point cloud for the scan, wherein the point cloud includes a first horizontal band and a second horizontal band, wherein the first horizontal band has a first resolution and the second horizontal band has a second resolution that is different from the first resolution.

20. The spinning LIDAR system of claim 19 , wherein N is 32 and M is 16.

Assignees

• Gm Cruise Holdings Llc

Inventors

• Vets Robert

Classifications

• G01S17/10

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

• G01S7/4817

  relating to scanning · CPC title

• G01S7/4815

  using multiple transmitters · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title