Waymo LLC

Maxim Integrated Products, Inc.

Augusto Tazzoli

Pierre-yves Droz

David Schleuning

Michael Marx

Nathaniel Golshan

Blaise Gassend

James C Dunphy

Caner Onal

Simon Ellgas

David Neil Hutchison

Vladislav Vashchenko

Matthew Emanuel Last

Pierre-Yves Droz

Samuel William Lenius

Ralph Hamilton Shepard

Drew Eugene Ulrich

Kelvin Kwong

Robert J Lockwood

Chandra Kakani

Justin Matthew Andrade

Lawrence Richard Skrenes

Georges Goetz

Andrew Abo

Joshua Jones

Erin Eppard

Michael Tom

Douglas Stuart Smith

Nathaniel Quillin

Sudhir Mulpuru

Daiwei Li

Example embodiments relate to time-division multiple access scanning for crosstalk mitigation in light detection and ranging (lidar) devices. An example embodiment includes a method. The method includes emitting a first group of light signals into a surrounding environment. The first group of light signals corresponds to a first angular resolution. The method also includes detecting, during a first listening window, a first group of reflected light signals. Additionally, the method includes emitting a second group of light signals into the surrounding environment. The second group of light signals corresponds to a second angular resolution with respect to the surrounding environment. The second angular resolution is lower than the first angular resolution. Further, the method includes detecting a second group of reflected light signals from the surrounding environment. In addition, the method includes synthesizing, by a controller of the lidar device, a dataset usable to generate one or more point clouds.

Time-division multiple access scanning for crosstalk mitigation in light detection and ranging (lidar) devices

Example embodiments relate to light detection and ranging (lidar) devices having a light-guide manifold. An example lidar device includes a transmit subsystem. The transmit subsystem includes a light emitter. The transmit subsystem also includes a light-guide manifold optically coupled to the light emitter. Further, the transmit subsystem includes a telecentric lens assembly optically coupled to the light-guide manifold. The lidar device also includes a receive subsystem. The receive subsystem includes the telecentric lens assembly. The receive subsystem also includes an aperture plate having an aperture defined therein. The aperture plate is positioned at a focal plane of the telecentric lens assembly. Further, the receive subsystem includes a silicon photomultiplier (SiPM) positioned to receive light traveling through the aperture.

Light detection and ranging (lidar) device having a light-guide manifold

An example circuit includes a plurality of light emitters connected in parallel between a first node and a second node. The circuit also includes a plurality of capacitors, with each capacitor corresponding to one of the light emitters, and a plurality of discharge-control switches, with each discharge-control switches corresponding to one of the capacitors. The circuit further includes a pulse-control switch connected to the plurality of light emitters. During a first period, the pulse-control switch restricts current flow, and each of the plurality of capacitors is charged via the first node. During a second period, one or more of the plurality of discharge-control switches allows current flow that discharges one or more corresponding capacitors. During a third period, the pulse-control switch allows current flow that discharges one or more undischarged capacitors of the plurality of capacitors through one or more corresponding light emitters.

Systems and methods for selecting light emitters for emitting light

Example embodiments relate to pulse energy plans for light detection and ranging (lidar) devices based on areas of interest and thermal budgets. An example lidar device includes a plurality of light emitters configured to emit light pulses into an environment in a plurality of different emission directions. The lidar device also includes circuitry configured to power the plurality of light emitters. Further, the lidar device includes a plurality of detectors configured to detect reflections of light pulses emitted by the plurality of light emitters. In addition, the lidar device includes a controller configured to (i) determine a pulse energy plan based on one or more regions of interest in the environment and a thermal budget and (ii) control the circuitry based on the pulse energy plan. The pulse energy plan specifies a pulse energy level for each light pulse emitted by each light emitter in the plurality of light emitters.

Pulse energy plan for light detection and ranging (lidar) devices based on areas of interest and thermal budgets

Example embodiments relate to light detection and ranging (lidar) devices having vertical-cavity surface-emitting laser (VCSEL) emitters. An example lidar device includes an array of individually addressable VCSELs configured to emit light pulses into an environment surrounding the lidar device. The lidar device also includes a firing circuit configured to selectively fire the individually addressable VCSELs in the array. In addition, the lidar device includes a controller configured to control the firing circuit using a control signal. Further, the lidar device includes a plurality of detectors. Each detector in the plurality of detectors is configured to detect reflections of light pulses that are emitted by one or more individually addressable VCSELs in the array and reflected by one or more objects in the environment surrounding the lidar device.

Light detection and ranging (lidar) devices having vertical-cavity surface-emitting laser (VCSEL) emitters

A method includes applying, by a switching circuit, pulses of an input voltage to an input of an inductor. The method includes charging, in accordance with an off state of a switch, a charge storage device through the inductor using the pulses of the input voltage such that the circuit node develops a charge voltage that is greater than the input voltage. The method includes discharging, in accordance with an on state of the switch, the charge storage device such that a first portion of the charge voltage is applied to a light emitter and a second portion of the charge voltage is applied to parasitic inductance. The method includes controlling, by a controller, a timing of the pulses of the input voltage applied by the switching circuit based on a parasitic inductance from a previous charging cycle of the charge storage device, so as to control the charge voltage.

Laser pulser circuit with tunable transmit power

A Printed Circuit Board (PCB) includes a via extending through at least one layer of the PCB. The PCB may also include a first catch pad connected to the via and located within a first metal layer of the PCB. The first catch pad may have a first size. The PCB may further include a second catch pad connected to the via and located within a second metal layer of the PCB. The second catch pad may have a second size greater than the first size. The second catch pad may overlap horizontally with a portion of a metallic feature in the first metal layer to obstruct light incident on a first side of the PCB from transmission to a second side of the PCB through a region of dielectric material near the via.

PCB optical isolation by nonuniform catch pad stack

The present disclosure relates to systems and methods directed to alignment of light-emitting devices. An example method includes coupling a support substrate to a light guide assembly. The support substrate includes a plurality of elongate structures and a plurality of laser diodes. Each laser diode of the plurality of laser diodes is coupled to a respective elongate structure of the plurality of elongate structures. The method also includes causing a given laser diode of the plurality of laser diodes to emit light toward the light guide assembly. The light guide assembly includes a light guide manifold configured to guide at least a portion of the emitted light as transmitted light. The method additionally includes comparing at least one optical characteristic of the transmitted light to a desired optical characteristic and, based on the comparison, adjusting a position of the given laser diode by adjusting the respective elongate structure.

Systems and methods for laser diode alignment

An example method includes stacking a plurality of laser diode bars proximate an alignment plate. Each respective laser diode bar has a front edge through which the respective laser diode bar emits light. The alignment plate has a first side that provides a common plane for aligning the front edges of the laser diode bars and a second side opposite the first side. The alignment plate has a plurality of microholes extending between the first and second sides. The method also includes applying suction to the plurality of laser diode bars through the plurality of microholes. The suction draws the front edges of the laser diode bars against the first side of the alignment plate such that the front edges of the laser diode bars are aligned in the common plane. Conductive plates used to clamp the plurality of laser diodes therebetween may be aligned in a similar fashion.

Vacuum fixture

The present disclosure relates to optical systems and methods for their manufacture. An example system includes a first substrate that has at least one bridge structure. The bridge structure has a first surface with one or more light-emitter devices disposed on it. The system also includes a second substrate that has a mounting surface that defines a reference plane. The second substrate includes a structure and an optical spacer on the mounting surface. The first and second substrates are coupled together such that the first surface of the first substrate faces the second substrate at an angle with respect to the reference plane. The system also includes at least one spacer coupled to the mounting surface. The at least one spacer is in physical contact with the one or more light-emitter devices.

Transmitter devices having bridge structures

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San Jose, CA, United States of America

Augusto Tazzoli