Velodyne Lidar Usa, Inc.

Velodyne Lidar, Inc.

Anand Gopalan

David S Hall

Mathew Noel Rekow

Pravin Kumar Venkatesan

Kanke Gao

Nitinkumar Sagarbhai Barot

Kiran Kumar Gunnam

Matthew Noel Rekow

Aaron Chen

Rajanatha Shettigara

Nathan Slattengren

Raymond Liou

Oren Milgrome

Thomas Richardson Tewell

Cristhian Octavio Reyes

Stephen S Nestinger

Tyler Banas

Vishal Jain

Garrett Rogren

Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LIDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Systems and methods for efficient multi-return light detectors

Methods and systems for combining return signals from multiple channels of a LIDAR measurement system are described herein. In one aspect, the outputs of multiple receive channels are electrically coupled before input to a single channel of an analog to digital converter. In another aspect, a DC offset voltage is provided at the output of each transimpedance amplifier of each receive channel to improve measured signal quality. In another aspect, a bias voltage supplied to each photodetector of each receive channel is adjusted based on measured temperature to save power and improve measurement consistency. In another aspect, a bias voltage supplied to each illumination source of each transmit channel is adjusted based on measured temperature. In another aspect, a multiplexer is employed to multiplex multiple sets of output signals of corresponding sets of receive channels before analog to digital conversion.

LIDAR signal acquisition

The present disclosure relates generally to systems and methods for generating, processing and correlating data from multiple sensors in an autonomous navigation system, and more particularly to the utilization of configurable and dynamic sensor modules within light detection and ranging systems that enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment.

Systems and methods for a configurable sensor system

The present disclosure relates generally to systems and methods for configuring architectures for a sensor, and more particularly for light detection and ranging (hereinafter, 'LIDAR') systems based on ASIC sensor architectures supporting autonomous navigation systems. Effective ASIC sensor architecture can enable an improved correlation between sensor data as well as configurability and responsiveness of the system to its surrounding environment and avoid any unnecessary delay within the decision-making process that may result in a failure of the autonomous driving system. It may be essential to integrated multiple functions within an electronic module and implement the functionality with one or more ASICs.

Application specific integrated circuits for lidar sensor and multi-type sensor systems

Described herein are systems and methods that implement a dual axis resonant scanning mirror to support a sensor system such as a LIDAR system. The scanning mirror may comprise: 1) a small dual axis mirror, in which each axis is moving by similar electromagnetic mechanisms can generate crosstalk between each of these electromagnetic mechanisms causing perturbations in the motion; 2) a primary axis that may need to be driven independently of the motion of a secondary axis and vice versa; 3) an optical position sensor; 4) a scanning mirror assembly that may be mounted to a scanner base via the secondary axis. The scanning mirror assembly may comprise resonant spring, resonant spring assembly, the rocking chair (with electromagnetic drive coils), the scanner base with a set of two secondary axis propulsion magnets, the mirror with a spacer and primary axis propulsion magnets, and the optical sense board.

Systems and methods for a dual axis resonant scanning mirror

Described herein are systems and methods for improving detection of a return signal in a light ranging and detection system. The system comprises a transmitter and a receiver. A first sequence of pulses may be encoded with an anti-spoof signature and transmitted in a laser beam. A return signal, comprising a second sequence of pulses, may be received by the receiver and the anti-spoof signature extracted from the second sequence of pulses. If based on the extraction, the first and second sequences of pulses match, the receiver outputs return signal data. If based on the extraction, the first and second sequence of pulses do not match, the return signal is disregarded. The system may dynamically change the anti-spoofing signature for subsequent sequences of pulses. Additionally, the first sequence of pulses may be randomized relative to a prior sequence of pulses.

Systems and methods for improving detection of a return signal in a light ranging and detection system

Apparatus and methods for aligning circuit boards (e.g., for LIDAR systems) are disclosed. According to one embodiment, an electronic device comprises a secondary device and a coupling device coupled to the secondary device. The coupling device comprises a plurality of conductive members, including a first conductive member and a second conductive member. Each of the conductive members comprises a first end configured to electrically and mechanically couple to a primary circuit board and a second end electrically and mechanically coupled to the secondary device. Each of the plurality of conductive members has an attribute adjustable in response to a condition being added to the respective conductive member, and is configured to maintain the adjusted attribute after the condition is removed.

Apparatus and methods for aligning devices for LIDAR systems

Methods and systems for performing three dimensional LIDAR measurements with an integrated LIDAR measurement device are described herein. In one aspect, a return signal receiver generates a pulse trigger signal that triggers the generation of a pulse of illumination light and data acquisition of a return signal, and also triggers the time of flight calculation by time to digital conversion. In addition, the return signal receiver also estimates the width and peak amplitude of each return pulse, and samples each return pulse waveform individually over a sampling window that includes the peak amplitude of each return pulse waveform. In a further aspect, the time of flight associated with each return pulse is estimated based on a coarse timing estimate and a fine timing estimate. In another aspect, the time of flight is measured from the measured pulse due to internal optical crosstalk and a valid return pulse.

LIDAR data acquisition and control

Application specific integrated circuits for LIDAR sensor and multi-type sensor systems

Dynamic control and configuration of autonomous navigation systems

Described herein are systems and methods that may efficiently detect multi-return light signals. A light detection and ranging system, such as a LiDAR system, may fire a laser beam that may hit multiple objects with a different distance in one line, causing multi-return light signals to be received by the system. Multi-return detectors may be able to analyze the peak magnitude of a plurality of peaks in the return signals and determine a multitude of peaks, such as the first peak, the last peak and the maximum peak. One embodiment to detect the multi-return light signals may be a multi-return recursive matched filter detector. This detector comprises a matched filter, peak detector, centroid calculation and a zeroing out function. Other embodiments may be based on a maximum finder that algorithmically selects the highest magnitude peaks from samples of the return signal and buffers for regions of interests peaks.

Apparatus and methods for aligning circuit boards (e.g., for LIDAR systems) are disclosed. According to one embodiment, an electronic device comprises a secondary device and a coupling device coupled to the secondary device. The coupling device comprises a plurality of conductive members, including a first conductive member and a second conductive member. Each of the conductive members comprises a first end configured to electrically and mechanically couple to a primary circuit board and a second end electrically and mechanically coupled to the secondary device. The second end of the first conductive member is coupled to a first side of the secondary device, and the second end of the second conductive member is coupled to a second side of the secondary device. The second side of the secondary device is opposite to the first side of the secondary device.

Growing community of inventors

Foster City, CA, United States of America

Anand Gopalan