Adaptive emitter and receiver for Lidar systems

Patent metadata

Field	Value
Publication number	US-11899137-B2
Application number	US-202117223230-A
Country	US
Kind code	B2
Filing date	Apr 6, 2021
Priority date	Feb 10, 2020
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A Lidar system and method is provided for adaptive control. The Lidar system comprises: an array of emitters each of which is individually addressable and controlled to emit a multi-pulse sequence, at least a subset of the emitters are activated to emit multi-pulse sequences concurrently according to an emission pattern; an array of photosensors each of which is individually addressable, at least a subset of the photosensors are enabled to receive light pulses according to a sensing pattern, each of the subset of photosensors is configured to detect returned light pulses returned and generate an output signal indicative of an amount of optical energy associated with at least a subset of the light pulses; and one or more processors electrically coupled to the array of emitters and the array of photosensors and configured to generate the emission pattern and the sensing pattern based on one or more real-time conditions.

First claim

What is claimed is:

1. A light detection and ranging system comprising:
an array of emitters, wherein the emitters are selectively activated to emit light pulses according to an emission pattern;
an array of photosensors, wherein the photosensors are selectively enabled to receive the light pulses according to a sensing pattern; and
one or more processors electrically coupled to the array of emitters and the array of photosensors and configured to determine a mapping relationship between the emission pattern and the sensing pattern by determining an address of one or more of the photosensors to be enabled to map to a given emitter, wherein the address of the one or more of the photosensors are determined based at least in part on a shape or size of a beam spot of the light pulses.

2. The light detection and ranging system of claim 1 , wherein at least one photosensor comprises an adjustable active region.

3. The light detection and ranging system of claim 2 , wherein the at least one photosensor comprises a set of photodetectors and wherein the active region is adjusted by selecting a subset of photodetectors from the set of photodetectors.

4. The light detection and ranging system of claim 2 , wherein the sensing pattern comprises an address of a set of photodetectors corresponding to the active region within the at least one photosensor.

5. The light detection and ranging system of claim 2 , wherein at least a shape or size of the active region is adjusted based on a change of the shape or size of the beam spot of the light pulses.

6. The light detection and ranging system of claim 1 , wherein the address of the one or more of the photosensors are updated based on a drift of the light pulses.

7. The light detection and ranging system of claim 6 , wherein the one or more processors are configured to further adjust the mapping relationship by updating an address of one or more photosensors mapped to the given emitter to accommodate the drift of the light pulses.

8. The light detection and ranging system of claim 6 , wherein the one or more processors are configured to further adjust the mapping relationship by updating an address of a set of photodetectors assigned to at least one of the one or more photosensors to accommodate the drift of the light pulses.

9. The light detection and ranging system of claim 1 , wherein each of the emitters comprises a set of laser diodes that are electrically connected and are controlled by a driving circuit.

10. The light detection and ranging system of claim 1 , wherein the emission pattern comprises an address of an emitter to be activated and a temporal profile of a multi-pulse sequence emitted by the emitter.

11. A method for providing an adaptive control of a light detection and ranging system, the method comprising:
determining a mapping relationship between an emission pattern and a sensing pattern by determining an address of one or more of photosensors to be enabled to map to a given emitter, wherein the address of the one or more of the photosensors are determined based at least in part on a shape or size of a beam spot of light pulses;
determining the sensing pattern based on the mapping relationship;
activating, according to the emission pattern, at least a subset of emitters selected from an array of emitters to emit multi-pulse sequences concurrently; and
enabling, according to the sensing pattern, at least a subset of photosensors selected from an array of photosensors to receive the light pulses.

12. The method of claim 11 , wherein at least one photosensor comprises an adjustable active region.

13. The method of claim 12 , wherein the at least one photosensor comprises a set of photodetectors and wherein the active region is adjusted by selecting a subset of photodetectors from the set of photodetectors.

14. The method of claim 12 , wherein the sensing pattern comprises an address of a set of photodetectors corresponding to the active region within the at least one photosensor.

15. The method of claim 12 , wherein at least a shape or size of the active region is adjusted based on a change of the shape or size of the beam spot of the light pulses.

16. The method of claim 11 , wherein the address of the one or more of the photosensors are updated based on a drift of the light pulses.

17. The method of claim 16 , further comprising adjusting the mapping relationship by updating an address of one or more photosensors mapped to the given emitter to accommodate the drift of the light pulses.

18. The method of claim 16 , further comprising adjusting the mapping relationship by updating an address of a set of photodetectors assigned to at least one of the one or more photosensors to accommodate the drift of the light pulses.

19. The method of claim 11 , wherein each of the emitters comprises a set of laser diodes that are electrically connected and are controlled by a driving circuit.

20. The method of claim 11 , wherein the emission pattern comprises an address of an emitter to be activated and a temporal profile of a multi-pulse sequence emitted by the emitter.

Assignees

• Hesai Technology Co Ltd

Inventors

• Zhu Xuezhou
• Sun Kai
• Xiang Shaoqing
• Yang Jin
• Wang Chenluan
• Liu Xugang
• Zhu Wenyi
• Yao Tingyu
• Wu Shixiang
• Yin Hui

Classifications

• G01S7/497

  Means for monitoring or calibrating · CPC title

• G01S7/4863 Primary

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

• G01S7/484

  Transmitters · CPC title

• G01S7/4815 Primary

  using multiple transmitters · CPC title

• G01S17/894

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title