Aurora Operations, Inc.

Blackmore Sensors & Analytics, LLC

Aurora Innovation, Inc.

Ryan Moore Galloway

Zeb William Barber

Edward Joseph Angus

Stephen C Crouch

Emil Kadlec

Sean Spillane

Evan W Rogers

Chad F Mitchell

Duncan E Luth

Evan Rogers

A LIDAR apparatus can include a polygon deflector that includes a plurality of facets. The LIDAR apparatus can include a motor rotatably coupled to the polygon deflector. The motor is configured to rotate the polygon deflector about a first axis orthogonal to a first plane. The LIDAR apparatus can include an optic positioned within an interior of the polygon deflector. The optic collimates a first beam to be incident on a particular facet of the plurality of facet. The particular facet of the plurality of facets refracts the first beam in the first plane between a first angle and a second angle as the polygon deflector rotates about the first axis to output a second beam.

Systems and methods for refractive beam-steering

A LIDAR system includes a first polygon scanner, a second polygon scanner, and an optic. The first polygon scanner includes a plurality of first facets around an axis of rotation. The second polygon scanner includes plurality of second facets that are outward from the plurality of first facets relative to the axis of rotation. The optic is inward from the first polygon scanner relative to the axis of rotation. The optic is configured to output a first beam to the first polygon scanner. The first polygon scanner is configured to refract the first beam to output a second beam to the second polygon scanner. The second polygon scanner is configured to refract the second beam to output a third beam.

LIDAR system

A light detection and ranging (LIDAR) system for a vehicle, includes a laser source configured to output a beam, a transmitter, a receiver, one or more optics and a processor. The transmitter is configured to transmit a transmit signal that is generated based on the beam. The receiver is configured to receive a return signal reflected by an object in response to the transmit signal. The one or more optics are configured to generate a first signal and a second signal based on the return signal, wherein the first signal and the second signal have different polarizations. The processor is configured to determine a type of the object by processing a signal-to-noise ratio (SNR) value of the first signal and a SNR value of the second signal.

Systems and methods for autonomous vehicle control using depolarization ratio of return signal

A light detection and ranging (LIDAR) system includes a transmitter, a first receiver, a second receiver, and one or more processors. The transmitter is configured to output a transmit beam. The first receiver is positioned on a first side of the transmitter and is configured to receive a first component of a return beam from reflection of the transmit beam by an object. The second receiver is positioned on a second side of the transmitter and is configured to receive a second component of the return beam. The one or more processors are configured to determine at least one of a range to the object or a velocity of the object and control operation of the autonomous vehicle based on the at least one of the range or the velocity.

LIDAR sensor system using particular scanning methods

An autonomous vehicle control system includes one or more processors. The one or more processors are configured to cause a transmitter to transmit a transmit signal from a laser source. The one or more processors are configured to cause a receiver to receive a return signal reflected by an object. The one or more processors are configured to cause one or more optics to generate a first polarized signal of the return signal with a first polarization, and generate a second polarized signal of the return signal with a second polarization. The one or more processors are configured to calculate a value of reflectivity based on a signal-to-noise ratio (SNR) value of the first polarized signal and an SNR value of the second polarized signal. The one or more processors are configured to operate a vehicle based on the value of reflectivity.

A LIDAR system includes a laser source, a first scanner, and a second scanner. The first scanner receives a first beam from the laser source and applies a first angle modulation to the first beam to output a second beam at a first angle. The second scanner receives the second beam and applies a second angle modulation to the second beam to output a third beam at a second angle.

A system and method for scanning of coherent LIDAR. The system includes a motor, a laser source configured to generate an optical beam, and a deflector. A first facet of the plurality of facets has a facet normal direction. The deflector is coupled to the motor and is configured to rotate about a rotation axis to deflect the optical beam from the laser source. The laser source is configured to direct the optical beam such that the optical beam is incident on the deflector at a first incident angle in a first plane, wherein the first plane includes the rotation axis, wherein the first incident angle is spaced apart from the facet normal direction for the first facet. A second facet of the plurality of facets includes an optical element configured to deflect the optical beam at the first incident angle into a deflected angle.

Lidar system including multifaceted deflector

A light detection and ranging (LIDAR) system includes a laser, a transceiver, and one or more optics. The laser source is configured to generate a beam. The transceiver is configured to transmit the beam as a transmit signal through a transmission waveguide and to receive a return signal reflected by an object through a receiving waveguide. The one or more optics are external to the transceiver and configured to optically change a distance between the transmit signal and the return signal by displacing one of the transmit signal or the return signal.

Providing spatial displacement of transmit and receive modes in lidar system

A LIDAR system includes a laser source, a first lens, and a second lens. The laser source is configured to output a first beam. The first lens includes a planar portion and a convex portion. The first lens is configured to receive the first beam and output a second beam responsive to the first beam. The second lens includes a concave portion and a planar portion. The second lens is configured to receive the second beam and output a third beam responsive to the second beam.

LIDAR system including multifaceted deflector

An apparatus includes a transceiver and one or more optics. The transceiver is configured to transmit a transmit signal from a laser source in a transmission mode and to receive a return signal reflected by an object in a receive mode. The one or more optics are configured to spatially separate the transmission mode and the receive mode by optically changing a distance between the transmit signal and the return signal.

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Bozeman, MT, United States of America

Ryan Moore Galloway