LiDAR systems and methods

Patent metadata

Field	Value
Publication number	US-12498489-B2
Application number	US-202117478536-A
Country	US
Kind code	B2
Filing date	Sep 17, 2021
Priority date	Oct 9, 2020
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A LIDAR system for detecting objects comprising: a radiation source for emitting output beams; a scanner for directing output beams onto a field of view (FOV), and a controller. The scanner comprises: a scanning face having reflective zones with reflective surfaces. Each reflective surface can receive the output beams and transmit as spread beams along a spread axis to define a region of interest (ROI) within the FOV. At least two different reflective surfaces can generate different ROIs with different spread axes. The controller is configured to cause relative movement between the output beams and the scanner for selective contact of the output beams with a given reflective zone to emit a given output beam as a desired region of interest.

First claim

The invention claimed is:

1 . A LIDAR system for detecting objects in a surrounding environment of an autonomous vehicle, the LIDAR system comprising:
a radiation source configured to emit output beams along an internal emission pathway; a scanner positionable along the internal emission pathway and configured to direct the output beams onto a field of view (FOV) within the surrounding environment, wherein the scanner comprises:
a scanning face having a plurality of reflective zones with respective reflective surfaces, the plurality of reflective zones comprising at least:
a first zone having a first reflective surface for receiving at least a portion of the output beams and transmitting as a first spread beam along a first spread axis to define a first region of interest (ROI) within the FOV, and
a second zone having second reflective surface for receiving at least a portion of the output beams and transmitting as a second spread beam along a second spread axis to define a second ROI within the FOV, the first spread axis being different than the second spread axis; and

a controller communicatively coupled to the radiation source and the scanner, the controller being configured to cause the scanner to selectively oscillate about different axes of oscillation in order to cause selective contact of the output beams with different reflective zones of the plurality of reflective zones to emit different output beams as a desired region of interest.

2 . The LIDAR system of claim 1 , wherein the controller is configured to move the scanner in a direction parallel to an elongate plane of a scanning body for selective contact of the output beams with the given reflective zone of the plurality of reflective zones.

3 . The LIDAR system of claim 1 , wherein the controller is configured to move the output beams for selective contact of the output beams with the given reflective zone of the plurality of reflective zones.

4 . The LIDAR system of claim 1 , wherein the scanner is an oscillating mirror and configured to oscillate about an axis of oscillation.

5 . The LIDAR system of claim 4 , wherein the controller is configured to modulate an amplitude of the oscillation of the oscillating mirror.

6 . The LIDAR system of claim 1 , wherein the scanner is an oscillating mirror and configured to selectively oscillate about different axes of oscillation, the different axes of oscillation comprising at least: a first axis of oscillation which has a first position relative to the first reflective surface and a second axis of oscillation which has a second position relative to the second reflective surface.

7 . The LIDAR system of claim 6 , wherein the first position is centered with respect to the first reflective surface.

8 . The LIDAR system of claim 6 , wherein the controller is configured to maintain an oscillation of the oscillating mirror while causing the oscillating mirror to oscillate about different axes of oscillation.

9 . The LIDAR system of claim 1 , wherein the scanning face is non-planar, and the first reflective surface and the second reflective surface are angularly off-set from one another.

10 . The LIDAR system of claim 1 , wherein the first reflective surface and the second reflective surface are made of different materials to impart different optical properties on the first spread beam and the second spread beam.

11 . The LIDAR system of claim 1 , wherein the scanner is a rotating prism having a plurality of faces, and at least one of the faces of the rotating prism comprising the scanning face having the plurality of reflective zones with respective reflective surfaces.

12 . The LIDAR system of claim 1 , wherein at least one of the reflective surfaces includes a material configured to modulate an optical property of the output beam incident on the at least one reflective surface.

13 . The LIDAR system of claim 1 , wherein the scanner is an oscillating galvo mirror having at least one face, and the at least one face of the oscillating galvo mirror comprises the scanning face having the plurality of reflective zones with respective reflective surfaces.

14 . The LIDAR system of claim 1 , further comprising a receiver for receiving reflected output beams from the region of interest.

15 . A method for detecting objects in a surrounding environment of an autonomous vehicle, the method executable by a controller which is communicatively coupled to a radiation source and a scanner of a LIDAR system, the method comprising:
causing the radiation source to emit output beams along an internal emission pathway of the LIDAR system; causing the scanner to direct the output beams onto a field of view (FOV) within the surrounding environment, the scanner comprising:
a scanning face having a plurality of reflective zones with respective reflective surfaces, the plurality of reflective zones comprising at least:
a first zone having a first reflective surface for receiving at least a portion of the output beams and transmitting as a first spread beam along a first spread axis to define a first region of interest (ROI) within the FOV, and
a second zone having second reflective surface for receiving at least a portion of the output beams and transmitting as a second spread beam along a second spread axis to define a second ROI within the FOV, the first spread axis being different than the second spread axis; and

wherein the directing the output beams onto the FOV comprises causing the scanner to selectively oscillate about different axes of oscillation in order to cause selective contact of the output beams with different reflective zones of the plurality of reflective zones to emit different output beams as a desired region of interest.

16 . The method of claim 15 , wherein the controller is configured to cause relative movement between the output beams and the scanner for selective contact of the output beams with a given reflective zone of the plurality of reflective zones according to one or more of (a) a predetermined schedule, (b) responsive to a determination from a sensor signal that a scan of a given region of interest within the FOV is required, (c) responsive to a geographical trigger, and (d) responsive to an environmental trigger.

17 . The method of claim 15 , wherein causing the relative movement comprises the controller causing the scanner to move in a direction parallel to an elongate plane of the scanner.

18 . The method of claim 15 , wherein causing the relative movement comprises the controller causing a direction of travel of the output beam to change.

19 . The method of claim 15 , wherein causing the relative movement comprises causing the scanner to selectively oscillate about different axes of oscillation, whilst modulating an amplitude of the oscillation.

Assignees

• Yandex Self Driving Group Llc
• Y E Hub Armenia Llc

Inventors

• Solomentsev Dmitry Valentinovich
• Golikov Andrey Viktorovich
• Orlov Nikolay Evgenevich
• Kuznetsov Vladimir Albertovich

Classifications

• G02B5/09

  Multifaceted or polygonal mirrors {, e.g. polygonal scanning mirrors; Fresnel mirrors} · CPC title

• G02B26/129

  Systems in which the scanning light beam is repeatedly reflected from the polygonal mirror · CPC title

• G02B26/105 Primary

  with one or more pivoting mirrors or galvano-mirrors (G02B26/101 takes precedence) · CPC title

• G02B7/1821

  for rotating or oscillating mirrors · CPC title

• G02B27/143

  using macroscopically faceted or segmented reflective surfaces · CPC title