Controlling pulse timing to compensate for motor dynamics
First Claim
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1. A method of controlling pulse rate in lidar systems in which a scanner scans in a forward-scanning direction and a reverse-scanning direction, to compensate for motor dynamics of the scanner, the method comprising:
- generating light pulses by a light source in a lidar system;
scanning, by a scanner in the lidar system, a field of view of the light source across a field of regard of the lidar system in a forward-scanning direction and a reverse-scanning direction, including;
directing the light pulses toward different points within the field of regard, anddecreasing a scan speed of the scanner as the scanner changes direction between the forward-scanning direction and the reverse-scanning direction at respective turnaround points;
adjusting a pulse rate at which the lidar system generates the light pulses in accordance with the scan speed, including transmitting the light pulses at a first pulse rate for a first scan speed and at a second pulse rate for a second scan speed; and
detecting, by a receiver of the lidar system, light from some of the light pulses scattered by one or more remote targets to generate respective pixels.
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Abstract
To compensate for motor dynamics in a scanner in a lidar system, a light source transmits light pulses at a variable pulse rate in accordance with a scan speed of the scanner. More specifically, the pulse rate may be directly related to the scan speed so that the light source transmits light pulses uniformly across a field of regard. A controller may determine the scan speed and provide a control signal to the light source adjusting the pulse rate accordingly.
115 Citations
22 Claims
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1. A method of controlling pulse rate in lidar systems in which a scanner scans in a forward-scanning direction and a reverse-scanning direction, to compensate for motor dynamics of the scanner, the method comprising:
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generating light pulses by a light source in a lidar system; scanning, by a scanner in the lidar system, a field of view of the light source across a field of regard of the lidar system in a forward-scanning direction and a reverse-scanning direction, including; directing the light pulses toward different points within the field of regard, and decreasing a scan speed of the scanner as the scanner changes direction between the forward-scanning direction and the reverse-scanning direction at respective turnaround points; adjusting a pulse rate at which the lidar system generates the light pulses in accordance with the scan speed, including transmitting the light pulses at a first pulse rate for a first scan speed and at a second pulse rate for a second scan speed; and detecting, by a receiver of the lidar system, light from some of the light pulses scattered by one or more remote targets to generate respective pixels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A lidar system comprising:
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a light source configured to emit light pulses; a scanner configured to scan a field of view of the light source across a field of regard of the lidar system in a forward-scanning direction and a reverse-scanning direction, including; direct the light pulses toward different points within the field of regard; and decrease a scan speed as the scanner changes direction between the forward-scanning direction and the reverse-scanning direction at respective turnaround points; a controller configured to adjust a pulse rate at which the light pulses are emitted by the light source, including; when the scanner scan at a first scan speed, cause the light source to emit the light pulses at a first pulse rate, and when the scanner scans at a second scan speed, cause the light source to emit the light pulses at a second pulse rate; and a detector configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification