Synchronization of Multiple Rotating Sensors of a Vehicle

Patent metadata

Field	Value
Publication number	US-2020142073-A1
Application number	US-201916671858-A
Country	US
Kind code	A1
Filing date	Nov 1, 2019
Priority date	Nov 2, 2018
Publication date	May 7, 2020
Grant date	—

Abstract

One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.

First claim

What is claimed:

1 . A system comprising:
a first light detection and ranging (LIDAR) device mounted to a vehicle at a first mounting position, wherein the first LIDAR device scans a first field-of-view (FOV) defined by a first range of pointing directions associated with the first LIDAR device and the first mounting position; a second LIDAR device mounted to the vehicle at a second mounting position, wherein the second LIDAR device scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device and the second mounting position, wherein the second FOV at least partially overlaps the first FOV; a first LIDAR controller that adjusts a first pointing direction of the first LIDAR device; and a second LIDAR controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.

2 . The system of claim 1 , further comprising:
a system controller, wherein the system controller generates a point cloud representation of an environment based on a first scan of the first FOV by the first LIDAR device and a second scan of the second FOV by the second LIDAR device.

3 . The system of claim 2 , wherein the first scan is based on first sensor data collected by the first LIDAR device during a particular time period, and wherein the second scan is based on second sensor data collected by the second LIDAR device during the particular time period.

4 . The system of claim 1 , wherein the second controller adjusting the second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device is based on at least the first mounting position and the second mounting position.

5 . The system of claim 1 , further comprising:
a first actuator configured to rotate the first LIDAR device about a first axis, wherein the first LIDAR controller operates the first actuator to adjust the first pointing direction; and a second actuator configured to rotate the second LIDAR device about a second axis, wherein the second LIDAR controller operates the second actuator to adjust the second pointing direction.

6 . The system of claim 1 , wherein the first LIDAR controller adjusting the first pointing direction comprises the first LIDAR controller aligning the first pointing direction with a target object in the environment at a particular time, and
wherein the second LIDAR controller adjusting the second pointing direction comprises the second LIDAR controller aligning the second pointing direction with the target object at the particular time.

7 . The system of claim 1 , wherein the first LIDAR controller adjusts the first pointing direction based on a reference timing signal, and
wherein the second LIDAR controller adjusts the second pointing direction based also on the reference timing signal.

8 . The system of claim 7 , wherein the first LIDAR controller generates the reference timing signal, and wherein the first LIDAR controller transmits an indication of the reference timing signal for receipt by the second LIDAR controller.

9 . The system of claim 7 , further comprising:
a system controller that generates the reference timing signal and provides an indication of the reference timing signal to the first LIDAR controller and the second LIDAR controller.

10 . A vehicle comprising:
a first light detection and ranging (LIDAR) device mounted to the vehicle at a first mounting position, wherein the first LIDAR device scans a first field-of-view (FOV) associated with a first range of yaw directions of the first LIDAR device; a second LIDAR device mounted to the vehicle at a second mounting position, wherein the second LIDAR device scans a second FOV associated with a second range of yaw directions of the second LIDAR device, and wherein the second FOV at least partially overlaps the first FOV; a first actuator that rotates the first LIDAR device to adjust a first yaw direction of the first LIDAR device; and a second actuator that rotates the second LIDAR device synchronously with the rotation of the first LIDAR device to adjust a second yaw direction of the second LIDAR device.

11 . The vehicle of claim 10 , wherein the first actuator rotates the first LIDAR device about a first yaw axis, and wherein the second actuator rotates the second LIDAR device about a second yaw axis that is substantially parallel to the first yaw axis.

12 . The vehicle of claim 10 , wherein the first LIDAR device is mounted on a first side of the vehicle, and wherein the second LIDAR is mounted on a second side of the vehicle.

13 . The vehicle of claim 10 , further comprising:
a controller that causes the first actuator to rotate the first LIDAR device according to a reference timing signal, and wherein the controller causes the second actuator to rotate the second LIDAR device according to the reference timing signal, the first mounting position, and the second mounting position.

14 . The vehicle of claim 10 , further comprising:
a display, wherein the display displays a three-dimensional (3D) representation of an environment of the vehicle based on a first scan of the first FOV by the first LIDAR device and a second scan of the second FOV by the second LIDAR device.

15 . The vehicle of claim 14 , wherein the 3D representation is indicative of first sensor data collected by the first LIDAR device during a first complete rotation of the first LIDAR device about a first yaw axis, and wherein the 3D representation is indicative of second sensor data collected by the second LIDAR device during a second complete rotation of the second LIDAR device about a second yaw axis.

16 . A method comprising:
scanning a first field-of-view (FOV) defined by a first range of pointing directions associated with a first light detection and ranging (LIDAR) device and a first mounting position of the first LIDAR device on a vehicle; scanning a second FOV defined by a second range of pointing directions associated with a second LIDAR device and a second mounting position of the second LIDAR device on the vehicle, wherein the second FOV at least partially overlaps the first FOV; and synchronously adjusting a first pointing direction of the first LIDAR device and a second pointing direction of the second LIDAR device.

17 . The method of claim 16 , wherein synchronously adjusting the first pointing direction and the second pointing direction comprises:
rotating the first LIDAR device about a first axis and the second LIDAR device about a second axis; and synchronizing one or more rotation characteristics of the first LIDAR device with one or more corresponding rotation characteristics of the second LIDAR device.

18 . The method of claim 17 , wherein the one or more rotation characteristics of the first LIDAR device include at least one of a phase of the rotation of the first LIDAR device, a rate of the rotation of the first LIDAR device, a direction of the rotation of the first LIDAR device, or the first axis of the rotation of the first LIDAR device.

19 . The method of claim 18 , wherein synchronizing the one or more rotational characteristics is based on a reference timing signal.

20 . The method of claim 18 , wherein synchronizing the one or more rotational characteristics is based on the first mounting position and the second mounting position.

Assignees

• Waymo Llc

Inventors

• Gassend Blaise
• Armstrong-Crews Nicholas
• Wendel Andreas
• Ingram Benjamin
• Kunz Clayton

Classifications

• G01S17/10 Primary

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

• G01S7/4817

  relating to scanning · CPC title

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S17/931

  of land vehicles · CPC title

• G01S17/87

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