Variable beam spacing, timing, and power for vehicle sensors

Patent metadata

Field	Value
Publication number	US-12352895-B2
Application number	US-202217722092-A
Country	US
Kind code	B2
Filing date	Apr 15, 2022
Priority date	Mar 17, 2017
Publication date	Jul 8, 2025
Grant date	Jul 8, 2025

Abstract

The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example transmit block includes at least one substrate with a plurality of angled facets. The plurality of angled facets provides a corresponding plurality of elevation angles. A set of angle differences between adjacent elevation angles includes at least two different angle difference values. A plurality of light-emitter devices is configured to emit light into an environment along the plurality of elevation angles toward respective target locations so as to provide a desired resolution and/or a respective elevation angle. The present disclosure also relates to adjusting shot power and a shot schedule based on the desired resolution and/or a respective elevation angle.

First claim

What is claimed is:

1. A Light Detection and Ranging (LIDAR) device comprising:
at least one substrate, wherein the at least one substrate comprises a plurality of substrates, and wherein the plurality of substrates are physically arranged in a non-parallel arrangement; and
a plurality of light sources arranged along the at least one substrate, wherein:
each substrate of the plurality of substrates has coupled thereon at least one light source of the plurality of light sources,
a set of angle differences between beam elevation angles of adjacent light sources comprises a non-uniform beam elevation angle distribution with respect to the environment,
at least two of the light sources of the plurality of light sources are arranged along different azimuth angles; and
light is emitted from the plurality of light sources such that a pointing direction of the plurality of light sources converges toward a desired target location in both an elevation direction and azimuthal direction.

2. The LIDAR device of claim 1 , wherein the plurality of substrates comprises six substrates coupled by way of one or more fiducial pins and/or standoffs.

3. The LIDAR device of claim 1 , wherein each light source of the plurality of light sources is oriented along a respective substrate of the plurality of substrates at a respective pointing angle, wherein the respective pointing angle comprises an elevation angle component and an azimuthal angle component.

4. The LIDAR device of claim 1 , further comprising:
a plurality of lenses, wherein each lens of the plurality of lenses is aligned with a respective light source of the plurality of light sources, and wherein each lens controls the pointing direction of the respective light source such that light is emitted from the light source toward a desired target location.

5. The LIDAR device of claim 4 , wherein each lens of the plurality of lenses comprises an optical element, and wherein each optical element is coupled to a respective facet of a respective light source.

6. The LIDAR device of claim 5 , wherein each optical element is configured to focus, steer, collimate, or otherwise interact with light emitted from an emitting surface of a respective light source.

7. The LIDAR device of claim 5 , wherein the facets are provided along an edge surface of respective substrates.

8. The LIDAR device of claim 5 , wherein adjusting a position of a given optical element adjusts a corresponding pointing angle of a given light source.

9. The LIDAR device of claim 3 , wherein the plurality of pointing angles ranges from approximately −5 degrees to +5 degrees with respect to an orientation of at least one substrate of the plurality of substrates.

10. The LIDAR device of claim 1 , wherein the plurality of light sources comprises at least 64 light-emitter devices.

11. The LIDAR device of claim 1 , further comprising, a plurality of pulser circuits, wherein a given pulser circuit corresponds to a given light source of the plurality of light sources, wherein each respective pulser circuit is configured to accept a power signal, an enable signal, and a trigger signal, wherein the respective pulser circuits are configured to provide pulses between 1-10 nanoseconds in duration.

12. The LIDAR device of claim 1 , wherein the LIDAR device is coupled to a vehicle, wherein the plurality of light sources is configured to emit light into an environment around the vehicle.

13. The LIDAR device of claim 1 , wherein a first set of light sources have respective beam elevation angles above a horizontal reference plane and a second set of light sources have respective beam elevation angles below the reference plane.

14. The LIDAR device of claim 13 , wherein less than 50% of the plurality of light sources have respective beam elevation angles below the reference plane.

15. The LIDAR device of claim 13 , wherein the light sources with respective elevation angles below the reference plane are configured to emit light pulses at a higher shot rate than the light sources with respective elevation angles above the reference plane.

16. The LIDAR device of claim 13 , wherein the light sources with respective elevation angles above the reference plane are configured to emit light pulses with a lower duty cycle than the light sources with respective elevation angles below the reference plane.

17. The LIDAR device of claim 13 , wherein the light sources with respective elevation angles above the reference plane are configured to emit light pulses with a higher power output per pulse than the light sources with respective elevation angles below the reference plane.

18. The LIDAR device of claim 13 , wherein the light sources with respective elevation angles above the reference plane are configured to emit light pulses with a first desired shot schedule, wherein the light sources with respective elevation angles below the reference plane are configured to emit light pulses with a second desired shot schedule.

19. The LIDAR device of claim 18 , wherein the respective desired shot schedules comprise at least one of: 1) which light source of the plurality of light sources is to be fired; 2) how long the light source should be fired; or 3) how long to wait before firing the next light source.

20. The LIDAR device of claim 1 , wherein the pointing direction of the plurality of light sources is partially determined by the non-parallel arrangement of the plurality of substrates.

Assignees

• Waymo Llc

Inventors

• Ingram Benjamin
• Droz Pierre-Yves
• Wachter Luke
• Mccloskey Scott
• Gassend Blaise
• Pennecot Gaetan

Classifications

• H01S5/4056

  emitting light in more than one direction · CPC title

• H01S5/4025

  Array arrangements, e.g. constituted by discrete laser diodes or laser bar (H01S5/42 takes precedence) · CPC title

• H01S3/2308

  Amplifier arrangements, e.g. MOPA · CPC title

• G01S17/10

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

• G01S7/484

  Transmitters · CPC title