LIDAR system for autonomous vehicle

Patent metadata

Field	Value
Publication number	US-11714173-B2
Application number	US-202017099982-A
Country	US
Kind code	B2
Filing date	Nov 17, 2020
Priority date	Jul 30, 2018
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

A method is presented for optimizing a scan pattern of a LIDAR system on an autonomous vehicle. The method includes receiving first SNR values based on values of a range of the target, where the first SNR values are for a respective scan rate. The method further includes receiving second SNR values based on values of the range of the target, where the second SNR values are for a respective integration time. The method further includes receiving a maximum design range of the target at each angle in the angle range. The method further includes determining, for each angle in the angle range, a maximum scan rate and a minimum integration time. The method further includes defining a scan pattern of the LIDAR system based on the maximum scan rate and the minimum integration time at each angle and operating the LIDAR system according to the scan pattern.

First claim

What is claimed is:

1. A light detection and ranging (LIDAR) system, comprising:
one or more scanning optics configured to transmit a transmit signal at a scan rate over an angle range defined by a first angle and a second angle; and
one or more processors configured to:
receive a first signal-to-noise ratio (SNR) value associated with the scan rate responsive to operation of the one or more scanning optics;
receive a second SNR value associated with an integration time of processing a return signal received responsive to operation of the one or more scanning optics;
identify a target range for a particular angle of the angle range, wherein the target range is greater than or equal to 1 meter and less than or equal to 15 meters or greater than or equal to 100 meters and less than or equal to 500 meters;
determine a particular scan rate, for the particular angle and using the target range, responsive to comparing the first SNR value to an SNR threshold;
determine a particular integration time, for the particular angle, responsive to comparing the second SNR value to the SNR threshold;
determine a scan pattern using the particular scan rate and the particular integration time; and
control operation of the one or more scanning optics using the scan pattern.

2. The LIDAR system of claim 1 , further comprising a detector array that receives the return signal.

3. The LIDAR system of claim 1 , wherein the target range is greater than 100 meters and the first SNR value is greater for a first value of the scan rate less than a second value of the scan rate.

4. The LIDAR system of claim 1 , wherein the second SNR value is greater for a first value of the integration time that is greater than a second value of the integration time.

5. The LIDAR system of claim 1 , wherein the scan rate is greater than or equal to 500 degrees per second and less than or equal to 5000 degrees or greater than or equal to 3000 degrees per second or less than or equal to 8000 degrees per second.

6. The LIDAR system of claim 1 , wherein the target range is about 200 meters and a diameter of the transmit signal is about 1 centimeter.

7. The LIDAR system of claim 1 , further comprising:
a laser source;
an optical waveguide coupled with the laser source; and
a collimation optic configured to receive an optical signal from the optical waveguide and shape the optical signal into a target beam, the one or more scanning optics configured to receive the target beam from the collimation optic to transmit the transmit signal at the scan rate responsive to receiving the target beam.

8. The LIDAR system of claim 1 , wherein the first SNR value is of a plurality of first SNR values, the second SNR value is of a plurality of second SNR values, and the one or more processors are configured to:
determine the particular scan rate responsive to comparing the plurality of first SNR values to the SNR threshold; and
determine the particular integration time responsive to comparing the plurality of second SNR values to the SNR threshold.

9. The LIDAR system of claim 1 , wherein the first angle is between about negative 25 degrees to about negative 10 degrees with respect to a reference point, and the second angle is between about 10 degrees to about 20 degrees with respect to the reference point.

10. The LIDAR system of claim 1 , wherein the one or more processors are configured to determine the particular scan rate to limit a walkoff distance between a first location from which the transmit signal is transmitted and a second location at which the return signal is received.

11. The LIDAR system of claim 1 , wherein the one or more processors are configured to control operation of an autonomous vehicle.

12. A method, comprising:
receiving a first signal-to-noise ratio (SNR) value associated with a scan rate at which one or more scanning optics transmit a transmit signal over an angle range defined by a first angle and a second angle;
receiving a second SNR value associated with an integration time of processing a return signal received responsive to operation of the one or more scanning optics;
identifying a target range for a particular angle of the angle range, wherein the target range is greater than or equal to 1 meter and less than or equal to 15 meters or greater than or equal to 100 meters and less than or equal to 500 meters;
determining a particular scan rate, for the particular angle and using the target range, responsive to comparing the first SNR value to an SNR threshold;
determining a particular integration time, for the particular angle, responsive to comparing the second SNR value to the SNR threshold;
determining a scan pattern using the particular scan rate and the particular integration time; and
controlling operation of the one or more scanning optics using the scan pattern.

13. The method of claim 12 , wherein the target range is greater than 100 meters and the first SNR value is greater for a first value of the scan rate less than a second value of the scan rate.

14. The method of claim 12 , wherein the second SNR value is greater for a first value of the integration time that is greater than a second value of the integration time.

15. The method of claim 12 , wherein the scan rate is greater than or equal to 500 degrees per second and less than or equal to 5000 degrees or greater than or equal to 3000 degrees per second or less than or equal to 8000 degrees per second.

16. The method of claim 12 , wherein:
the first angle is between about negative 25 degrees to about negative 10 degrees with respect to a reference point, and the second angle is between about 10 degrees to about 20 degrees with respect to the reference point.

17. The method of claim 12 , further comprising controlling operation of an autonomous vehicle.

18. An autonomous vehicle control system, comprising:
a LIDAR sensor configured to:
receive a first signal-to-noise ratio (SNR) value associated with a scan rate at which one or more scanning optics transmit a transmit signal over an angle range defined by a first angle and a second angle;
receive a second SNR value associated with an integration time of processing a return signal received responsive to operation of the one or more scanning optics;
identify a target range for a particular angle of the angle range, wherein the target range is greater than or equal to 1 meter and less than or equal to 15 meters or greater than or equal to 100 meters and less than or equal to 500 meters;
determine a particular scan rate, for the particular angle and using the target range, responsive to comparing the first SNR value to an SNR threshold;
determine a particular integration time, for the particular angle, responsive to comparing the second SNR value to the SNR threshold;
determine a scan pattern using the particular scan rate and the particular integration time; and
control operation of the one or more scanning optics using the scan pattern to determine a range to the target; and

a vehicle controller configured to control operation of an autonomous vehicle using the range to the target.

19. The autonomous vehicle control system of claim 18 , wherein the scan rate is greater than or equal to 500 degrees per second and less than or equal to 5000 degrees or greater than or equal to 3000 degrees per second or less than or equal to 8000 degrees per second.

20. The autonomous vehicle control system of claim 18 , wherein the first angle is from about negative 25 degrees to about negative 10 degrees with resp

Assignees

• Blackmore Sensors & Analytics Llc

Inventors

• Crouch Stephen C
• Angus Edward Joseph
• Milvich Michelle

Classifications

• G01S7/493 Primary

  Extracting wanted echo signals · CPC title

• G01S7/4817

  relating to scanning · CPC title

• G01S7/4911

  Transmitters · CPC title

• G01S7/4914

  of detector arrays, e.g. charge-transfer gates · CPC title

• G01S17/931 Primary

  of land vehicles · CPC title