Long range steerable LIDAR system

Patent metadata

Field	Value
Publication number	US-12196884-B2
Application number	US-202117366768-A
Country	US
Kind code	B2
Filing date	Jul 2, 2021
Priority date	Apr 6, 2015
Publication date	Jan 14, 2025
Grant date	Jan 14, 2025

Abstract

Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

First claim

The invention claimed is:

1. A system comprising:
a light detection and ranging (LIDAR) device, wherein the LIDAR device is mounted to
a first portion of a vehicle, wherein the LIDAR device comprises:
a light source configured to emit light; and
a plurality of detectors;

a further sensor mounted to a second portion of the vehicle; and
a controller configured to:
identify a region of interest based on an initial three-dimensional (3D) representation of an environment of the vehicle received from the LIDAR device;
in response to identifying the region of interest, adjust a viewing direction of the further sensor and cause the further sensor to scan the region of interest;
receive, from the further sensor, a 3D representation of the environment, wherein the 3D representation of the environment indicates that an animate object is identified within the region of interest; and
navigate the vehicle within a first threshold distance to the animate object.

2. The system of claim 1 wherein the further sensor comprises at least one of a LIDAR device, a RADAR device, a laser rangefinder, an acoustic sensor, and a camera.

3. The system of claim 2 wherein the LIDAR device has a first scanning resolution and the further sensor has a second scanning resolution higher than the first scanning resolution.

4. The system of claim 1 further comprising:
a housing, wherein at least the scanning portion is disposed within the housing, and wherein a wall of the housing comprises a light filter configured to allow the emitted light to propagate through the light filter; and
a rotational mount configured to rotate at least a portion of the LIDAR device about a second axis.

5. The system of claim 4 wherein the housing is positioned at a top side of a vehicle, wherein the second axis comprises an axis passing through the top side of the vehicle, and wherein the rotational mount is configured to rotate within a 360 degree range of motion about the second axis.

6. The system of claim 1 , further comprising one or more actuators, wherein the one or more actuators are configured to modify a position or an orientation of the further sensor.

7. A system comprising:
a vehicle;
a light detection and ranging (LIDAR) device configured detect an environment around the vehicle, wherein the LIDAR device is coupled to a first portion of the vehicle;
a further sensor coupled to a second portion of the vehicle; and
a controller configured to:
identify a region of interest based on an initial three-dimensional (3D) representation of an environment of the vehicle received from the LIDAR device;
in response to identifying the region of interest, adjust a viewing direction of the further sensor and cause the further sensor to scan the region of interest;
receive, from the further sensor, a 3D representation of the environment, wherein the 3D representation of the environment indicates that an animate object is identified within the region of interest; and
navigate the vehicle within a first threshold distance to the animate object.

8. The system of claim 1 , wherein the controller is further configured to:
in response to receiving the 3D representation of the environment that indicates the animate object is identified within the region of interest, assign the further sensor to track the animate object as the vehicle navigates.

9. The system of claim 1 , wherein the controller is further configured to:
receive, from the further sensor, the 3D representation of the environment, wherein the 3D representation of the environment also indicates an indication that an inanimate object is identified within the region of interest.

10. The system of claim 9 , wherein the controller is further configured to:
navigate the vehicle within a second threshold distance to the inanimate object.

11. The system of claim 10 , wherein the second threshold distance is less than the first threshold distance.

12. The system of claim 7 , further comprising one or more actuators, wherein the one or more actuators are configured to modify a position or an orientation of the further sensor.

13. The system of claim 7 wherein the further sensor comprises at least one of a LIDAR device, a RADAR device, a laser rangefinder, an acoustic sensor, and a camera.

14. The system of claim 7 wherein at least a scanning portion of the LIDAR device is disposed within a housing, wherein the housing is positioned at a top side of the vehicle, wherein a second axis comprises an axis passing through the top side of the vehicle, and wherein a rotational mount is configured to rotate at least a portion of the LIDAR device within a 360 degree range of motion about the second axis.

15. The system of claim 14 wherein the housing comprises a light filter, wherein the light filter has a dome shape, and wherein the light filter is configured to attenuate visible light propagating into the housing.

16. The system of claim 7 wherein the LIDAR device has a first scanning resolution and the further sensor has a second scanning resolution higher than the first scanning resolution.

17. The system of claim 7 , wherein the controller is further configured to:
in response to receiving the 3D representation of the environment that indicates the animate object is identified within the region of interest, assign the further sensor to track the animate object as the vehicle navigates.

18. The system of claim 7 , wherein the controller is further configured to:
receive, from the further sensor, the 3D representation of the environment, wherein the 3D representation of the environment also indicates an indication that an inanimate object is identified within the region of interest.

19. The system of claim 18 , wherein the controller is further configured to:
navigate the vehicle within a second threshold distance to the inanimate object.

20. The system of claim 19 , wherein the second threshold distance is less than the first threshold distance.

Assignees

• Waymo Llc

Inventors

• Droz Pierre-Yves
• Pennecot Gaetan
• Levandowski Anthony
• Ulrich Drew Eugene
• Morriss Zach
• Wachter Luke
• Iordache Dorel Ionut
• Mccann William
• Gruver Daniel
• Fidric Bernard
• Lenius Samuel William

Classifications

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S2013/93273

  on the top of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title

• G01S17/931

  of land vehicles · CPC title