Pulse energy plan for light detection and ranging (lidar) devices based on areas of interest and thermal budgets

Patent metadata

Field	Value
Publication number	US-12169252-B2
Application number	US-202318334039-A
Country	US
Kind code	B2
Filing date	Jun 13, 2023
Priority date	Dec 4, 2019
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

Example embodiments relate to pulse energy plans for light detection and ranging (lidar) devices based on areas of interest and thermal budgets. An example lidar device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The lidar device also includes circuitry configured to power the plurality of light emitters. Further, the lidar device includes a plurality of detectors configured to detect reflections of light pulses emitted by the plurality of light emitters. In addition, the lidar device includes a controller configured to (i) determine a pulse energy plan based on one or more regions of interest in the environment and a thermal budget and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters.

First claim

What is claimed is:

1. A light detection and ranging (lidar) device of a vehicle within a fleet of vehicles, wherein the lidar device comprises:
a plurality of light emitters configured to emit light pulses into an environment of the lidar device in a plurality of different emission directions;
circuitry configured to power the plurality of light emitters;
a plurality of detectors, wherein each detector in the plurality of detectors is configured to detect reflections of light pulses emitted by a corresponding light emitter in the plurality of light emitters and received from the environment of the lidar device; and
a controller configured to:
determine one or more regions of interest in the environment of the lidar device based on data from other vehicles within the fleet;
determine a pulse energy plan based on the one or more regions of interest and a thermal budget, wherein the pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters; and
control the circuitry based on the pulse energy plan.

2. The lidar device of claim 1 , wherein the pulse energy plan specifies a pulse energy level for each light pulse from among at least a first pulse energy level and a second pulse energy level, and wherein the second pulse energy level is higher than the first pulse energy level.

3. The lidar device of claim 2 , wherein the circuitry comprises a plurality of pulser circuits, and wherein each pulser circuit is configured to power a respective set of one or more light emitters in the plurality of light emitters.

4. The lidar device of claim 1 , further comprising an actuator configured to scan a pointing direction of the lidar device through a range of angles by rotating the plurality of light emitters and the plurality of detectors about an axis of rotation, wherein the range of angles comprises a range of azimuthal angles about an axis of rotation.

5. The lidar device of claim 1 , wherein the controller is further configured to determine the thermal budget based on a temperature in the environment of the lidar device.

6. The lidar device of claim 5 , wherein the thermal budget is increased when the temperature in the environment is below a threshold ambient temperature, and wherein utilizing the increased thermal budget heats the light emitters to maintain a consistent light-emitter temperature.

7. The lidar device of claim 5 , wherein the controller is further configured to determine the thermal budget based on a cloud cover in the environment of the lidar device or a status of a thermoelectric heater or thermoelectric cooler of the lidar device.

8. The lidar device of claim 1 , wherein the controller is further configured to debias the at least one of the plurality of detectors when the pointing direction of the lidar device is outside of the range of angles.

9. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on map data.

10. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on data from auxiliary sensors of the lidar device.

11. The lidar device of claim 1 , wherein the controller is further configured to determine the thermal budget based on one or more efficiencies of the light emitters.

12. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on a location of the horizon relative to a vehicle associated with the lidar device.

13. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on weather conditions.

14. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on one or more driving conditions of a vehicle associated with the lidar device.

15. The lidar device of claim 14 , wherein the driving conditions comprise a type of road on which the vehicle is driving, traffic signals, traffic conditions, an occurrence of an unprotected turn, historical driving data, data from other vehicles in a vehicle fleet, or a location of a construction zone.

16. The lidar device of claim 1 , wherein the controller is further configured to determine the one or more regions of interest based on a time of day.

17. A method comprising:
determining, by a controller of a light detection and ranging (lidar) device of a vehicle within a fleet of vehicles, one or more regions of interest in an environment of the lidar device based on data from other vehicles within the fleet;
determining, by the controller, a pulse energy plan based on the one or more regions of interest and a thermal budget;
controlling, by the controller, circuitry of the lidar device configured to power a plurality of light emitters according to the pulse energy plan;
emitting, from each light emitter in the plurality of light emitters, a light pulse into the environment of the lidar device in a plurality of different emission directions relative to the lidar device, wherein a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters is specified by the pulse energy plan; and
detecting, by a plurality of detectors of the lidar device, each detector corresponding to a light emitter in the plurality of light emitters, reflections of the light pulses emitted by the corresponding light emitters and received from the environment of the lidar device.

18. The method of claim 17 , further comprising scanning, by an actuator of the lidar device, a pointing direction of the lidar device through a range of angles,
wherein controlling the circuitry of the lidar device comprises controlling the circuitry of the lidar device as the pointing direction of the lidar device is scanned through the range of angles by the actuator, and
wherein the different emission directions relative to the lidar device comprise different emission directions relative to the pointing direction of the lidar device.

19. A non-transitory, computer-readable medium having instructions stored therein, wherein the instructions, when executed by a processor, perform a method comprising:
determining, for a light detection and ranging (lidar) device of a vehicle within a fleet of vehicles, one or more regions of interest in an environment of the lidar device based on data from other vehicles within the fleet;
determining a pulse energy plan based on the one or more regions of interest and a thermal budget;
controlling circuitry of the lidar device configured to power a plurality of light emitters according to the pulse energy plan;
causing each light emitter in the plurality of light emitters to emit a light pulse into the environment of the lidar device in a plurality of different emission directions relative to the lidar device, wherein a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters is specified by the pulse energy plan; and
receiving, from each detector in a plurality of detectors of the lidar device, signals corresponding to detected reflections of the light pulses emitted by the plurality of light emitters and received from the environment of the lidar device, wherein each detector of the plurality of detectors corresponds to a light emitter in the plurality of light emitters.

20. The non-transitory, computer-readable medium of claim 19 ,

Assignees

• Waymo Llc

Inventors

• Droz Pierre-Yves
• Onal Caner
• Ellgas Simon
• Tazzoli Augusto

Classifications

• G01S17/931

  of land vehicles · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title

• G01S7/4815

  using multiple transmitters · CPC title

• G01S7/4863

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