Systems and methods for adaptive range coverage using LIDAR

Patent metadata

Field	Value
Publication number	US-12222452-B2
Application number	US-202318500659-A
Country	US
Kind code	B2
Filing date	Nov 2, 2023
Priority date	Dec 22, 2017
Publication date	Feb 11, 2025
Grant date	Feb 11, 2025

Abstract

The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.

First claim

What is claimed is:

1. A system comprising:
a plurality of light-emitter devices, wherein the plurality of light-emitter devices is operable to emit light along a plurality of emission vectors such that the emitted light interacts with an external environment of the system;
a receiver subsystem configured to provide information indicative of interactions between the emitted light and the external environment; and
a controller operable to carry out operations, the operations comprising:
determining, for at least one light-emitter device of the plurality of light-emitter devices, a light pulse schedule, wherein the light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of the external environment, wherein the three-dimensional map is a topographical map, and wherein the light pulse schedule comprises at least one pulse parameter and a listening window duration;
adjusting the light pulse schedule based on a contour line that extends around the system, wherein the contour line is determined based on the topographic map; and
causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the adjusted light pulse schedule.

2. The system of claim 1 , wherein the contour line comprises a three-dimensional circle, a three-dimensional oval, or a three-dimensional irregular shape.

3. The system of claim 1 , wherein the contour line is further determined based on object data from the external environment.

4. The system of claim 1 , wherein the contour line extends around the system through a plurality of yaw angles.

5. The system of claim 4 , wherein the plurality of yaw angles comprises 360 degrees.

6. The system of claim 1 , wherein the contour line comprises a continuous line that extends around the system at a predetermined distance.

7. The system of claim 1 , wherein the contour line comprises a continuous line that is located at a predetermined height above a ground surface.

8. The system of claim 1 , wherein the operations further comprise dynamically adjusting the contour line as the system moves about the external environment.

9. The system of claim 1 , wherein the contour line is further determined based on point cloud information obtained by the system.

10. A method comprising:
determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule, wherein the plurality of light-emitter devices is operable to emit light along a plurality of emission vectors, wherein the light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment, wherein the three-dimensional map is a topographical map, and wherein the light pulse schedule comprises at least one light pulse parameter and a listening window duration;
adjusting the light pulse schedule based on a contour line that extends around a vehicle, and wherein the contour line is determined based on the topographic map; and
causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the adjusted light pulse schedule, wherein the light pulse interacts with the external environment.

11. The method of claim 10 , wherein the contour line comprises a three-dimensional circle, a three-dimensional oval, or a three-dimensional irregular shape.

12. The method of claim 10 , wherein the contour line is further based on object data from the external environment.

13. The method of claim 10 , wherein the contour line extends around the vehicle through a plurality of yaw angles.

14. The method of claim 13 , wherein the plurality of yaw angles comprises 360 degrees.

15. The method of claim 10 , wherein the contour line comprises a continuous line that extends around the vehicle at a predetermined distance.

16. The method of claim 10 , wherein the contour line comprises a continuous line that is located at a predetermined height above a ground surface.

17. The method of claim 10 , further comprising dynamically adjusting the contour line as the vehicle moves about the external environment.

18. The method of claim 10 , wherein the contour line is further determined based on point cloud information obtained by the vehicle.

19. A system comprising:
a plurality of light-emitter devices, wherein the plurality of light-emitter devices is operable to emit light along a plurality of emission vectors such that the emitted light interacts with an external environment of the system;
a receiver subsystem configured to provide information indicative of interactions between the emitted light and the external environment; and
a controller operable to carry out operations, the operations comprising:
determining, for at least one light-emitter device of the plurality of light-emitter devices, a light pulse schedule, wherein the light pulse schedule is based on a respective emission vector of the at least one light emitter device and a three-dimensional map of the external environment, wherein the three-dimensional map is a topographical map, and wherein the light pulse schedule comprises at least one light pulse parameter and a listening window duration;
adjusting the light pulse schedule based on a contour line that extends around the system, wherein the contour line is determined based on the topographic map; and
causing the at least one light-emitter device of the plurality of light-emitter devices to emit a first light pulse according to the adjusted light pulse schedule and a second light pulse according to a default light pulse schedule.

20. The system of claim 19 , wherein the contour line is further determined based on object data from the external environment.

Assignees

• Waymo Llc

Inventors

• Shand Mark Alexander

Classifications

• B60W2420/408

  Radar; Laser, e.g. lidar · CPC title

• G01S1/10

  using amplitude comparison of signals transmitted sequentially from antennas or antenna systems having differently-oriented overlapping directivity characteristics, e.g. equi-signal A-N type · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S17/10

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