Waymo LLC

Hewlett-packard Development Company, L.P.

Digital Equipment Corporation

Mark Alexander Shand

Blaise Gassend

Pierre-yves Droz

Benjamin T Ingram

Simon Verghese

Colin Andrew Braley

Roman Lewkow

Robert W Horst

Pierre-Yves Droz

Andreas Wendel

Salil Pandit

Reed Gerard Alexander Morse

Luke Wachter

Stephanie McArthur

Ralph Hamilton Shepard

Min Wang

Mingcheng Chen

Christian Lauterbach

David Schleuning

Alan Bryant Heirich

Gil Shotan

Ming Zou

Nathaniel Quillin

Laurent Moll

Albert Tam

Roman Manka

Timothy Willis

Benjamin Ingram

A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.

Light detection and ranging (LIDAR) device range aliasing resilience by multiple hypotheses

Described herein are methods and systems for protecting a light detection and ranging (LIDAR) device against external light that is originated at a light source other than a light source of the LIDAR device and that is being emitted towards the LIDAR device. In particular, the LIDAR device may be equipped with a mitigation system that includes an interference filter, an absorptive filter, an adaptive filter, and/or a spatial filter. Additionally or alternatively, the LIDAR device may be operated to carry out reactive and/or proactive mitigation operations. For example, the LIDAR device may be operated to vary over time characteristics with which light is being emitted and to only detect light having characteristics that match the characteristics with which light is being emitted. In another example, the LIDAR device may be operated to activate a shutter to block the external light from being detected by the LIDAR device.

Methods and systems for protecting a light detection and ranging (LIDAR) device

Aspects of the disclosure relate cleaning systems for cleaning cabin air and interior surfaces of a vehicle. For instance, a cleaning system may include a surface cleaning device including a UVC light source. In addition, a request for confirmation that the vehicle may not be occupied may be sent to a remote computing device. In response to the request, a signal indicating whether or not the vehicle is occupied may be received. The surface cleaning device may then be activated based on the signal.

Internal cleaning for autonomous vehicles

Example embodiments relate to selective deactivation of light emitters for interference mitigation in light detection and ranging (lidar) devices. An example method includes deactivating one or more light emitters within a lidar device during a firing cycle. The method also includes identifying whether interference is influencing measurements made by the lidar device. Identifying whether interference is influencing measurements made by the lidar device includes determining, for each light detector of the lidar device that is associated with the one or more light emitters deactivated during the firing cycle, whether a light signal was detected during the firing cycle.

Selective deactivation of light emitters for interference mitigation in light detection and ranging (lidar) devices

Systems and methods described herein relate to LIDAR systems and their operation. An example method includes partitioning a plurality of light-emitter devices into a plurality of groups. Each light-emitter device is associated with a given group of the plurality of groups. The method also includes selecting a group from the plurality of groups according to a predetermined group order and selecting one or more light-emitter devices from the plurality of light-emitter devices of the selected group according to a firing order. The method yet further includes, at a predetermined shot dither time, causing the selected light-emitter device to emit at least one light pulse. The predetermined shot dither time is based on a shot dither schedule. The method may additionally include repeating the method to provide a complete scan in which each light-emitter device of the plurality of light-emitter devices has emitted at least one light pulse.

Shot reordering in LIDAR systems

Systems and methods for performing operations based on LIDAR communications are described. An example device may include one or more processors and a memory coupled to the one or more processors. The memory includes instructions that, when executed by the one or more processors, cause the device to receive data associated with a modulated optical signal emitted by a transmitter of a first LIDAR device and received by a receiver of a second LIDAR device coupled to a vehicle and the device, generate a rendering of an environment of the vehicle based on information from one or more LIDAR devices coupled to the vehicle, and update the rendering based on the received data. Updating the rendering includes updating an object rendering of an object in the environment of the vehicle. The instructions further cause the device to provide the updated rendering for display on a display coupled to the vehicle.

Lidar based communication

Computing devices, systems, and methods described in various embodiments herein may relate to light detection and ranging (LIDAR or lidar) systems. An example computing device could include a controller having at least one processor and at least one memory. The at least one processor is configured to execute program instructions stored in the at least one memory so as to carry out operations. The operations include receiving information indicative of transmit light emitted from a lidar system along a light-emission axis. The operations also include determining, based on the received information, a maximum instrumented distance. The maximum instrumented distance includes a known unobstructed region defined by a ray segment extending between the lidar system and a point along the light-emission axis.

Maximum range indication in lidar point data

A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

Use of extended detection periods for range aliasing detection and mitigation in a light detection and ranging (LIDAR) system

The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.

Systems and methods for adaptive range coverage using LIDAR

One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

Synchronized spinning LIDAR and rolling shutter camera system

The present disclosure relates to systems and methods involving Light Detection and Ranging (LIDAR or lidar) systems. Namely, an example method includes causing a light source of a LIDAR system to emit light along an emission vector. The method also includes adjusting the emission vector of the emitted light and determining an elevation angle component of the emission vector. The method further includes dynamically adjusting a per pulse energy of the emitted light based on the determined elevation angle component. An example system includes a vehicle and a light source coupled to the vehicle. The light source is configured to emit light along an emission vector toward an environment of the vehicle. The system also includes a controller operable to determine an elevation angle component of the emission vector and dynamically adjust a per pulse energy of the emitted light based on the determined elevation angle component.

Terrain adaptive pulse power in a scanning Lidar

An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

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Palo Alto, CA, United States of America

Mark Alexander Shand