Aeye, Inc.

Alex Liang

Luis Carlos Dussan

Allan Steinhardt

Joel David Benscoter

Philippe Feru

Igor Polishchuk

Naveen Reddy

Il Woong Jung

Jordan Spencer Greene

A lidar system that includes a laser source and a scannable mirror can also include a circuit that schedules a variable rate firing of a plurality of upcoming laser pulse shots by the laser source using a laser energy model as compared to a plurality of energy requirements applicable to the upcoming laser pulse shots, and wherein the laser energy model takes into consideration a retention of energy in the laser source after the upcoming laser pulse shots are fired and quantitatively predicts available energy amounts for the upcoming laser pulse shots from the laser source based on a history of prior laser pulse shots by the laser source. The laser energy model is capable of modeling the energy available for laser pulse shots in the laser source over very short time intervals (such as 10-100 nanoseconds).

Hyper temporal lidar with dynamic shot scheduling using a laser energy model

A lidar system having a lidar transmitter and lidar receiver that are in a bistatic arrangement with each other can be deployed in a climate-controlled compartment of a vehicle to reduce the exposure of the lidar system to harsher elements so it can operate in more advantageous environments with regards to factors such as temperature, moisture, etc. In an example embodiment, the bistatic lidar system can be connected to or incorporated within a rear view mirror assembly of a vehicle.

Bistatic lidar architecture for vehicle deployments

A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can define the detection intervals based on a region in the field of view that a laser pulse shot is targeting (e.g., setting longer detection intervals for laser pulse shots targeting a horizon region, setting shorter detection intervals for laser pulse shots targeting a region that intersects within the ground within a relatively short distance of the lidar system).

Hyper temporal lidar with controllable detection intervals based on regions of interest

A lidar system that includes a laser source can be controlled to schedule the firing of laser pulse shots at range points in a field of view. As part of this scheduling, the system can prioritize which elevations will be targeted with shots before other elevations based on defined criteria. Examples of such criteria can include prioritizing elevations corresponding to a horizon, prioritizing elevations which contain objects of interest (e.g., nearby objects, fast moving objects, objects heading toward the lidar system, etc).

Hyper temporal lidar with elevation-prioritized shot scheduling

A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. A shot list for the upcoming laser pulse shots that are modeled according to the laser energy and mirror motion models can further be controlled based on eye safety and/or camera safety models to prevent the lidar system firing too much laser energy into defined spatial areas over defined time periods and thus reduce the risk of damage to eyes and/or cameras in the field of view.

Hyper temporal lidar with dynamic laser control using safety models

A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The detection intervals can vary across different shots, and at least some of the detection intervals can be controlled to be of different durations than the shot intervals that correspond to such detection intervals.

Hyper temporal lidar with asynchronous shot intervals and detection intervals

A lidar system that includes a laser source and a scannable mirror can be controlled to adaptively schedule the firing of laser pulse shots at range points in a field of view. A first plurality of laser pulse shots that are fired during a scan of the mirror in a first scan direction can trigger the detection of a region of interest in the field of view. In response to this detection, a second plurality of laser shots targeting the region of interest can be scheduled for the next return scan of the mirror in the opposite direction.

Hyper temporal lidar with detection-based adaptive shot scheduling

A lidar system includes a lidar transmitter and a control circuit. The lidar transmitter can controllably fire a plurality of laser pulse shots into a field of view, and the control circuit can (1) detect a target based on a return from a laser pulse shot fired at a first shot angle, and (2) in response to the detected target, (i) schedule a pulse burst to be fired at the target, wherein the pulse burst comprises a second laser pulse shot to be fired at a second shot angle and a third laser pulse shot to be fired at a third shot angle, wherein the first shot angle is between the second and third shot angles, and (ii) control the lidar transmitter to fire the scheduled pulse burst.

Hyper temporal lidar with pulse burst scheduling

A lidar receiver can employ multiple processors to distribute the workload of processing returns from laser pulse shots. Activation/deactivation times of pixel sets that are used by the lidar receiver to sense returns can be used to define which samples in a return buffer will be used for processing to detect each return, and multiple processors can share the workload of processing these samples in an effort to improve the latency of return detection.

Hyper temporal lidar with multi-processor return detection

A lidar system can include a lidar transmitter and a lidar receiver, where the lidar transmitter controllably transmits a pulse burst toward a target in a field of view and where the lidar receiver resolves an angle to the target based on returns from the pulse burst. The pulse burst can include a first pulse fired at a first shot angle and a second pulse fired at a second shot angle.

Hyper temporal lidar with controllable pulse bursts to resolve angle to target

A lidar system that includes a laser source and a scannable mirror can be controlled to fire laser pulse shots from the laser source toward targeted range points via the scannable mirror at a variable rate of firing those laser pulse shots. A control circuit for the lidar system can determine a shot order of the targeted laser pulse shots for the variable rate firing based on a plurality of simulations of different shot order candidates with respect to a laser energy model that models how much energy is available from the laser source for laser pulse shots over time as compared to a plurality of energy requirements for the targeted laser pulse shots. Parallelized logic resource in the control circuit can be used to perform the simulations in parallel to support low latency shot scheduling.

Hyper temporal lidar with dynamic laser control and shot order simulation

A lidar system that includes a laser source can be controlled to fire laser pulse shots from the laser source at a variable rate of firing those laser pulse shots. The fired laser pulse shots can include scheduled laser pulse shots that are targeted at range points in the field of view. The fired laser pulse shots can also include marker shots that bleed energy out of the laser source in order to avoid reaching a threshold for available energy in the laser source and/or regulate energy amounts for the targeted laser pulse shots. A laser energy model that models how much energy is available from the laser source for laser pulse shots over time can be used to model future available energies for the laser source and determine whether any marker shots should be fired.

Hyper temporal lidar with dynamic laser control using marker shots

A lidar system comprises an optical amplification laser source, a mirror, and a control circuit. The optical amplification laser source can generate laser pulses for transmission as laser pulses shots into a field of view, the optical amplification laser source comprising a seed laser, a pump laser, and an optical amplifier. The mirror can be is scannable to control where the laser pulse shots are fired into the field of view, and the control circuit can control the seed laser to adjust its seed energy to control energy levels for a first laser pulse shot and a second laser pulse shot within a pulse burst to be transmitted from the optical amplification laser source via the mirror.

Hyper temporal lidar with controllable variable laser seed energy

A lidar system that includes a variable energy laser source and transmits laser pulses produced by the variable energy laser source toward range points in a field of view can use a laser energy model to model the available energy in the variable energy laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling a variable rate of energy buildup in the variable energy laser source per unit time.

Hyper temporal lidar with dynamic control of variable energy laser source

A lidar system that includes a laser source and a scannable mirror can be controlled to schedule the firing of laser pulse shots at range points in a field of view. A first mirror motion model can be used to govern the scheduling of the laser pulse shots, and a second mirror motion model can be used to govern when firing commands are to be generated for the scheduled laser pulse shots. The first and second mirror motion models model motion of the scannable mirror over time. A system controller can use the first mirror motion model as a coarse mirror motion model for the purpose of shot scheduling, while a beam scanner controller can use the second mirror motion model as a fine mirror motion model for the purposes of generating firing commands for the laser source.

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Dublin, CA, United States of America

Alex Liang