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1.发明申请公开(公告)号：US20220011417A1
公开(公告)日：2022-01-13
申请号：US16924079
申请日：2020-07-08
发明人： Chenghui Hao , Michael DeLaus , Geng Fu , Denis Rainko
IPC分类号： G01S7/4913 , G01S17/34 , G01S7/4912 , G01S7/4911
摘要： This document describes techniques and systems to vary waveforms across frames in lidar systems. The described lidar system transmits signals with different waveforms for the same pixel of consecutive frames to avoid a return signal overlapping with a noise spike or a frequency component of another return signal. The different waveforms can be formed using different frequency modulations, different amplitude modulations, or a combination thereof for the same pixel of consecutive frames. The lidar system can change the waveform of the transmit signal for the same pixel of a subsequent frame automatically or in response to determining that a signal-to-noise ratio of the return signal of an initial frame is below a threshold value. In this way, the lidar system can increase the signal-to-noise ratios in return signals. These improvements allow the lidar system to increase its accuracy in determining the characteristics of objects that reflected the return signals.
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公开(公告)号：US20230194711A1
公开(公告)日：2023-06-22
申请号：US18068139
申请日：2022-12-19
发明人： Denis Rainko , Roman Dietz
IPC分类号： G01S17/10 , G01S7/4865 , G01S7/481 , G01S17/931
CPC分类号： G01S17/10 , G01S7/4865 , G01S7/4817 , G01S7/4816 , G01S17/931
摘要： A light detection and ranging (LIDAR) device having a sensor for detecting input signals and an emitter for emitting output signals. A controller controls the emitter to emit output signals and reads the input signals from the sensor during a plurality of scan cycles. Each scan cycle is separated by a spacer period, and the controller is configured to vary the length of the spacer periods between the plurality of scan cycles. The LIDAR device may form part of a LIDAR system. Methods for reducing interference in a LIDAR system, and methods and software for controlling a LIDAR device are also disclosed.
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公开(公告)号：US20230194666A1
公开(公告)日：2023-06-22
申请号：US18068192
申请日：2022-12-19
发明人： Denis Rainko , Roman Dietz
CPC分类号： G01S7/4802 , G01M11/005
摘要： Methods, devices, systems, and computer program products for estimating object reflectivity in a light detection and ranging (LIDAR) system are disclosed. The method, for example, includes receiving LIDAR data for a plurality of LIDAR scan cycles. The method also includes generating a dataset from the LIDAR data by accumulating the recorded return signals over the plurality of scan cycles. A data feature associated with an object is identified in the dataset, and one or more parameters of the data feature are identified. An estimated reflectivity of the object may then be determined based on the one or more parameters.
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公开(公告)号：US11536812B2
公开(公告)日：2022-12-27
申请号：US16909788
申请日：2020-06-23
发明人： Geng Fu , Chenghui Hao , Denis Rainko , Ali Haddadpour , Roman Dietz
IPC分类号： G01S7/48 , G01S7/4865 , G01S17/931 , G01S17/894
摘要： This document describes techniques and systems to increase the dynamic range of time-of-flight (ToF) lidar systems. The described lidar system adjusts, based on the energy of a first return pulse, the bias voltage of a photodetector for other return pulses of the object pixel. The bias voltage can be adjusted down for highly-reflective or close-range objects. Similarly, the bias voltage can be increased for low-reflectivity or long-range objects. The ability of the described lidar system to adjust the bias voltage of the photodetector for each object pixel increases the dynamic range of the lidar system without additional hardware or a complex readout. The increased dynamic range allows the described lidar system to maintain a long-range capability, while accurately measuring return-pulse intensity for detecting close-range or highly-reflective objects.
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公开(公告)号：US11802970B2
公开(公告)日：2023-10-31
申请号：US16924027
申请日：2020-07-08
发明人： Geng Fu , Denis Rainko , Ali Haddadpour , Roman Dietz
IPC分类号： G01S7/481 , G01S17/894 , G01S17/931
CPC分类号： G01S17/894 , G01S7/4817 , G01S17/931
摘要： This document describes techniques and systems to alternate power-level scanning for ToF lidar systems. The described lidar system transmits an initial signal having a first power level of an alternating pattern of power levels. The initial signal is associated with an initial pixel of consecutive pixels. The lidar system then transmits a subsequent signal, which is associated with a subsequent pixel of the consecutive pixels, having a second power level. The transmission of the initial signal and the subsequent signal with the alternating pattern of power levels limits a total power level emitted by the lidar system during a time interval to comply with safety regulations. The alternating pattern of power levels also permits the lidar system to switch between a long-detection range and a short-detection range for consecutive pixels.
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公开(公告)号：US20220011433A1
公开(公告)日：2022-01-13
申请号：US16924027
申请日：2020-07-08
发明人： Geng Fu , Denis Rainko , Ali Haddadpour , Roman Dietz
IPC分类号： G01S17/894 , G01S17/931 , G01S7/481
摘要： This document describes techniques and systems to alternate power-level scanning for ToF lidar systems. The described lidar system transmits an initial signal having a first power level of an alternating pattern of power levels. The initial signal is associated with an initial pixel of consecutive pixels. The lidar system then transmits a subsequent signal, which is associated with a subsequent pixel of the consecutive pixels, having a second power level. The transmission of the initial signal and the subsequent signal with the alternating pattern of power levels limits a total power level emitted by the lidar system during a time interval to comply with safety regulations. The alternating pattern of power levels also permits the lidar system to switch between a long-detection range and a short-detection range for consecutive pixels.
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公开(公告)号：US20210149031A1
公开(公告)日：2021-05-20
申请号：US17096776
申请日：2020-11-12
发明人： Roman Dietz , Denis Rainko , Geng Fu , Ali Haddadpour
IPC分类号： G01S7/4911 , G01S17/931 , G01S17/42 , G01S7/4912
摘要： Described are techniques for processing a laser signal to illuminate an external scene that is sectored in pixels by a laser device. This includes frequency modulating a laser signal in up and down-chirps, illuminating the external scene, receiving a reflected laser signal, measuring an up-beat signal, measuring a down-beat signal, simultaneously illuminating the external scene with the up-chirp and with the down-chirp for at least one pixel, and amplitude modulating the modulated laser signal of at least two adjacent pixels, so that the calculating unit can distinguish the reflected laser signals of two adjacent pixels. This way, in order to allow for fast scanning of a single frame, up- and down-chirps are sent out simultaneously to scan a complete pixel row or line within one ramp without any waiting time and without any chirp reset on each pixel.
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公开(公告)号：US11480662B2
公开(公告)日：2022-10-25
申请号：US16788546
申请日：2020-02-12
发明人： Geng Fu , Ali Haddadpour , Denis Rainko , Roman Dietz
IPC分类号： G01S7/484 , G01S17/931 , G01S17/32 , G01S17/58
摘要： The techniques of this disclosure enable lidar systems to operate as fast-scanning FMCW lidar systems. The fast-scanning lidar system alternates chirp patterns frame by frame as a way to increase scanning speed, without adding additional hardware. Each consecutive pair of frames includes a frame with a long chirp pattern with multiple chirps and a frame with a short chirp pattern with as few as a single chirp, which is derived from the long chirp pattern assuming a constant object velocity between frames. The chirp pattern applied to each pixel is consistent within each frame but different from one frame to the next. The combined duration of two consecutive frames is less than the combined duration of two consecutive frames of a traditional FMCW lidar system that uses the same chirp pattern from one frame to the next. The shorter duration increases frame rate, scanning speed, or overall throughput of the fast-scanning lidar system.
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公开(公告)号：US20220011434A1
公开(公告)日：2022-01-13
申请号：US16927499
申请日：2020-07-13
发明人： Denis Rainko , Geng Fu , Ali Haddadpour , Roman Dietz
IPC分类号： G01S17/894 , G01S7/483 , G01S7/481
摘要： This document describes a time-of-flight lidar system configured to process pulse trains instead of individual pulses, for improved range resolution and pixel throughput. Each pulse in the pulse train is output at a respective duration and intensity, which may vary to provoke a return with a high-intensity and low signal ambiguity, prevent thermal build-up, or promote safe ocular operation. An expected intensity of the return as a function of time can be determined. By sampling reflections at the expected times and intensities, the lidar system quickly identifies a corresponding lidar return, even despite lidar noise. A return time of the return can indicate a distance or speed associated with an object pixel in a field-of-view. Processing pulse trains instead of individual pulses allows pixels to be scanned faster than using long durations or frame times, which also promotes ocular safety. Increased throughput is realized using low-energy lasers and inexpensive hardware, which minimize thermal footprint.
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公开(公告)号：US20210396857A1
公开(公告)日：2021-12-23
申请号：US16909788
申请日：2020-06-23
发明人： Geng Fu , Chenghui Hao , Denis Rainko , Ali Haddadpour , Roman Dietz
IPC分类号： G01S7/4865 , G01S17/931 , G01S17/894
摘要： This document describes techniques and systems to increase the dynamic range of time-of-flight (ToF) lidar systems. The described lidar system adjusts, based on the energy of a first return pulse, the bias voltage of a photodetector for other return pulses of the object pixel. The bias voltage can be adjusted down for highly-reflective or close-range objects. Similarly, the bias voltage can be increased for low-reflectivity or long-range objects. The ability of the described lidar system to adjust the bias voltage of the photodetector for each object pixel increases the dynamic range of the lidar system without additional hardware or a complex readout. The increased dynamic range allows the described lidar system to maintain a long-range capability, while accurately measuring return-pulse intensity for detecting close-range or highly-reflective objects.
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