Blackmore Sensors & Analytics, LLC

Montana State University

S2 Corporation

Aurora Operations, Inc.

Krishna Rupavatharam

Stephen C Crouch

Randy Ray Reibel

Zeb William Barber

Emil Kadlec

Kristian D Merkel

William Randall Babbitt

James Curry

Michelle Milvich

Colton Richard Stiffler

Tiejun Chang

Zachary Cole

Calvin Harrington

Scott Henry Bekker

Peter B Sellin

Randy W Equall

Kelvin Wagner

Alex Woidtke

Rufus Cone

Charles W Thiel

Craig Benko

Aaron Traxinger

An autonomous vehicle control system may include one or more processors configured to receive an electrical signal generated based on a returned optical signal that is reflected from an object. The one or more processors may determine a Doppler frequency shift of the returned optical signal over a first duration of the electrical signal. The one or more processors may generate a corrected electrical signal based on the Doppler frequency shift. The one or more processors may determine a range to the object based on the corrected electrical signal over a second duration that is shorter than the first duration. The one or more processors may control at least one of a steering system or a braking system based on the range.

Method and system for enhanced velocity resolution and signal to noise ratio in optical phase-encoded range detection

Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

LIDAR system to adjust doppler effects

A system and method for enhanced velocity resolution and signal to noise ratio in optical phase-encoded range detection includes receiving an electrical signal generated by mixing a first optical signal and a second optical signal, wherein the first optical signal is generated by modulating an optical signal, wherein and the second optical signal is received in response to transmitting the first optical signal toward an object, and determining a Doppler frequency shift of the second optical signal, and generating a corrected electrical signal by adjusting the electrical signal based on the Doppler frequency shift, and determining a range to the object based on a cross correlation of the corrected electrical signal with a radio frequency (RF) signal that is associated with the first optical signal.

A LIDAR system including one or more processors configured to receive a plurality of electrical signals that are respectively associated with (i) a plurality of optical signals provided by a laser and (ii) a plurality of returned optical signals that are responsive to the plurality of optical signals provided by the laser; determine an internal reflection signal; determine a range to an object by adjusting a third electrical signal of the plurality of electrical signals using the internal reflection signal; and operate a vehicle based on the determined range to the object.

Method and system for laser phase tracking for internal reflection subtraction in phase-encoded lidar

In some implementations, a light detection and ranging (LIDAR) system includes a transmitter configured to transmit an optical signal that is output from a laser and modulated based on a modulating signal, a receiver configured to receive a returned optical signal in response to transmitting the optical signal, and a processor. The processor is configured to produce a first optical signal based on the returned optical signal and a first version of the modulating signal, produce a second optical signal based on the returned optical signal and a second version of the modulating signal, generate a digital signal based on the first optical signal and the second optical signal, determine a Doppler frequency shift of the returned optical signal based, at least in part, on the digital signal, and provide data indicative of the Doppler frequency shift to a vehicle.

Method and system for time separated quadrature detection of doppler effects in optical range measurements

Techniques for generating an arbitrary target electromagnetic signal with a nonlinear material, include determining a time varying target amplitude and target phase and an order n of a nonlinear material. For each time, a first set of nth roots of the target amplitude and a second set of nth roots of the target phase are determined. An input amplitude based on one value from the first set and an input phase based on one value from the second set is determined at each time. A difference between temporally successive values of phase is minimized. An electromagnetic signal is modulated to impose the input amplitude and phase to produce a modulated electromagnetic input signal that is introduced into the nonlinear material to produce a target electromagnetic signal.

Techniques for using nonlinear electromagnetic materials to produce arbitrary electromagnetic signals

Doppler correction of broadband LIDAR includes mixing, during a first time interval, a returned optical signal with an in-phase version of the transmitted signal to produce a first mixed optical signal that is detected during the first time interval to produce a first electrical signal. During a non-overlapping second time interval the returned optical signal is mixed with a quadrature version of the transmitted signal to produce a second mixed optical signal that is detected during the second time interval to produce a second electrical signal. A complex digital signal uses one of the digitized electrical signals as a real part and a different one as the imaginary part. A signed Doppler frequency shift of the returned optical signal is determined based, at least in part, on a Fourier transform of the complex digital signal. A device is operated based on the Doppler frequency shift.

Lidar system to detect doppler effects

A system and method for optical detection in autonomous vehicles includes modulating an optical signal from a laser to generate a modulated optical signal and transmitting the modulated optical signal toward an object. The system and method include receiving, responsive to transmitting the modulated optical signal, a returned optical signal and mixing the returned optical signal with a reference optical signal associated with the optical signal from the laser to generate a mixed optical signal and detecting the mixed optical signal to generate an electrical signal. Based on the electrical signal and the modulated optical signal, a parameter of an internal reflection of the returned optical signal from one or more optical components is determined, which may be used to operate a vehicle.

Method and system for laser phase tracking for internal reflection subtraction in phase-encoded LIDAR

Method and system for doppler detection and doppler correction of optical phase-encoded range detection

A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 4 gigaHertz or is at least 8 GHz from an optical carrier frequency. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders (harmonics) of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal, which sideband does not overlap the sideband of any other harmonic.

Techniques for single sideband suppressed carrier (SSBSC) optical signals

A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 1 gigaHertz to greater than 20 gigaHertz. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal.

Techniques for single sideband suppressed carrier (SSBSC) optical signals that scale to bandwidths over 20 gigahertz

Techniques for spatial spectral holography include a doped crystal comprising Thulium doped into a host crystal of Yttrium Lutetium Aluminum Garnet wherein a concentration of Thulium atoms is less than 3 atomic percent. Techniques further include an apparatus with a source for optical electromagnetic radiation and a cryocooler configured to maintain an operating temperature in a range from about 3 Kelvin to about 6 Kelvin. The cryocooler includes a first optical window. The apparatus also includes a doped crystal comprising Thulium doped into a host crystal of Yttrium Lutetium Aluminum Garnet disposed inside the cryocooler in a position to be illuminated by incident optical electromagnetic radiation derived from the source. The apparatus also includes a detector configured to detect optical electromagnetic radiation emitted from the doped crystal. Techniques include a method for using at least one of the above doped crystals.

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Bozeman, MT, United States of America

Krishna Rupavatharam