Tunable LiDAR for simultaneous ranging and environmental monitoring

Patent metadata

Field	Value
Publication number	US-12535588-B2
Application number	US-202217861497-A
Country	US
Kind code	B2
Filing date	Jul 11, 2022
Priority date	Jul 27, 2018
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

In one embodiment, a method includes emitting, by an automotive vehicle, one or more light beams from a LiDAR system toward an environment surrounding the automotive vehicle, receiving one or more return light beams at the LiDAR system of the automotive vehicle, detecting one or more objects located in the environment surrounding the automotive vehicle based on the return light beams, and simultaneously measuring one or more air characteristics of the environment surrounding the automotive vehicle. The simultaneous detecting of the one or more objects and measuring of the one or more air characteristics may be performed by the LiDAR system. The method may further include sending, by the automotive vehicle, location information to a server associated with vehicle navigation, and sending information of the detected objects and measured air characteristics to the server associated with vehicle navigation, the server configured to update a vehicle-navigation map based on the information.

First claim

What is claimed is:

1 . A method comprising, by a fleet management system managing a plurality of vehicles:
instructing at least one of the plurality of vehicles to navigate to one or more locations while operating a tunable light detection and ranging (LiDAR) system to detect one or more objects of an environment surrounding the vehicle; receiving, from the at least one of the plurality of vehicles, map data comprising detection locations of the one or more objects in the environment detected by the at least one of the vehicles; generating, based on the map data from the at least one of the plurality of vehicles, updated vehicle navigation information including the detection locations; and providing, according to the updated vehicle navigation information, an indication of a type of detected object of the one or more objects and at least one of the detection locations of the one or more objects detected by the at least one of the plurality of vehicles with a target vehicle.

2 . The method of claim 1 , further comprising:
updating, according to the detection locations of the one or more objects detected by the at least one of the plurality of vehicles, driving instructions for the target vehicle.

3 . The method of claim 2 , wherein the driving instructions comprise one or more of:
dispatching the target vehicle to fulfill ride requests, instructing the target vehicle to perform select operations, or instructing the target vehicle to enter select operation modes.

4 . The method of claim 3 , wherein instructing the target vehicle to perform select operations further comprising one or more of instructing the target vehicle to head to a service center, instructing the target vehicle to pull over, instructing the target vehicle to stop immediately, instructing the target vehicle to self-diagnose, instructing the target vehicle to lock compartments, instructing the target vehicle to unlock compartments, instructing the target vehicle to change music station, or instructing the target vehicle to change temperature.

5 . The method of claim 3 , wherein instructing the target vehicle to enter select operation modes further comprising one or more of instructing the target vehicle to operate normally, instructing the target vehicle to drive at a reduced speed, or instructing the target vehicle to drive under the command of human operators.

6 . The method of claim 1 , wherein the LiDAR system is further configured to measure distances to the one or more objects.

7 . The method of claim 6 , wherein the measured distances to the one or more objects are used to generate a three-dimensional (3D) model of the environment surrounding the vehicle.

8 . The method of claim 1 , wherein the detection locations of the one or more objects are associated with timestamp information.

9 . The method of claim 1 , further comprising:
instructing the at least one of the plurality of vehicles to simultaneously detect the one or more objects from the LiDAR system of the environment surrounding the vehicle.

10 . The method of claim 1 , wherein the LiDAR system is further configured to detect temperature associated with the one or more objects.

11 . The method of claim 10 , wherein the detected temperature is used by the LiDAR system to identify a category of detected object of the one or more objects.

12 . The method of claim 11 , wherein the one or more objects is categorized as an inanimate object when the LiDAR system detects the temperature associated with the one or more objects is the same as an ambient air temperature.

13 . The method of claim 1 , further comprising:
determining a colliding along a travel route of the target vehicle based on the received map data comprising the detection locations of the one or more objects, generating, based on the map data, an updated travel route of the target vehicle to avoid the colliding; and sharing the updated route to the target vehicle.

14 . A system comprising:
one or more processors; and one or more computer-readable non-transitory storage media coupled to one or more of the processors, the one or more computer-readable non-transitory storage media comprising instructions operable when executed by one or more of the processors to cause the system to perform operations comprising:
instructing at least one of a plurality of vehicles to navigate to one or more locations while operating a tunable light detection and ranging (LiDAR) system to detect one or more objects of an environment surrounding the vehicle;
receiving, from the at least one of the plurality of vehicles, map data comprising detection locations of the one or more objects in the environment detected by the at least one of the vehicles;
generating, based on the map data from the at least one of the plurality of vehicles, updated vehicle navigation information including the detection locations; and
providing, according to the updated vehicle navigation information, an indication of a type of detected object of the one or more objects and at least one of the detection locations of the one or more objects detected by the at least one of the plurality of vehicles with a target vehicle.

15 . The system of claim 14 , further comprising:
updating, according to the detection locations of the one or more objects detected by the at least one of the plurality of vehicles, driving instructions for the target vehicle.

16 . The system of claim 15 , wherein the driving instructions comprise one or more of:
dispatching the target vehicle to fulfill ride requests, instructing the target vehicle to perform select operations, or instructing the target vehicle to enter select operation modes.

17 . The system of claim 16 , wherein instructing the target vehicle to perform select operations further comprising one or more of instructing the target vehicle to head to a service center, instructing the target vehicle to pull over, instructing the target vehicle to stop immediately, instructing the target vehicle to self-diagnose, instructing the target vehicle to lock compartments, instructing the target vehicle to unlock compartments, instructing the target vehicle to change music station, or instructing the target vehicle to change temperature.

18 . One or more computer-readable non-transitory storage media embodying software that is operable when executed to cause one or more processors to perform operations comprising:
instructing at least one of a plurality of vehicles to navigate to one or more locations while operating a tunable light detection and ranging (LiDAR) system to detect one or more objects of an environment surrounding the vehicle; receiving, from the at least one of the plurality of vehicles, map data comprising detection locations of the one or more objects in the environment detected by the at least one of the vehicles; generating, based on the map data from the at least one of the plurality of vehicles, updated vehicle navigation information including the detection locations; and providing, according to the updated vehicle navigation information, an indication of a type of detected object of the one or more objects and at least one of the detection locations of the one or more objects detected by the at least one of the plurality of vehicles with a target vehicle.

19 . The media of claim 18 , further comprising:
updating, according to the detection locations of the one or more objects detected by the at least one of the plurality of vehicles, driving instructions for the target vehicle.

Assignees

• Lyft Inc

Inventors

• Abari Farzad Cyrus Foroughi

Classifications

• G01N2015/1493

  Particle size · CPC title

• G01S17/42

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

• G01N15/1434

  Optical arrangements · CPC title

• G01C21/30

  Map- or contour-matching · CPC title

• G01S17/87 Primary

  Combinations of systems using electromagnetic waves other than radio waves · CPC title