Vehicle with multiple light detection and ranging devices (LIDARS)

• US 10,120,079 B2
• Filed: 09/25/2017
• Issued: 11/06/2018
• Est. Priority Date: 03/25/2015
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Pennecot, Gaetan, Morriss, Zachary, Lenius, Samuel, Iordache, Ionut, Gruver, Daniel, Droz, Pierre-Yves, Wachter, Luke, Ulrich, Drew, McCann, William, Pardhan, Rahim, Fidric, Bernard, Levandowski, Anthony, Avram, Peter
• Primary Examiner(s): Abraham, Samantha K
• Application Number:
  US15/714,326
• Publication Number:
  US 20180011196A1
• Time in Patent Office: 407 Days
• CPC Class Codes: G01C 3/02 Details
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

Claims

1. A vehicle comprising:

one or more wheels disposed along a first side of the vehicle oriented toward a driving surface, the one or more wheels configured to rotate to cause the vehicle to travel along the driving surface;

a control system configured to control operation of the one or more wheels;

a sensor unit housing disposed along a second side of the vehicle opposite the first side;

a first light detection and ranging device (LIDAR) arranged within the sensor unit housing and being operatively coupled to the control system, the first LIDAR having a first field of view about a given axis, and the first LIDAR having a first refresh rate; and

a second LIDAR arranged within the sensor unit housing and being operatively coupled to the control system, the second LIDAR having a second field of view about the given axis different from the first field of view, and the second LIDAR having a second refresh rate different from the first refresh rate;

wherein the first LIDAR and the second LIDAR are configured to independently rotate about the given axis within the sensor unit housing.

2. The vehicle of claim 1, wherein the sensor unit housing is a dome-shaped housing coupled to the second side of the vehicle.

3. The vehicle of claim 2, wherein the dome-shaped housing includes a dividing structure disposed therein, the dividing structure having a first side and a second side, the first LIDAR being disposed along the first side and the second LIDAR being disposed along the second side of the dividing structure.

4. The vehicle of claim 3, wherein:

the dome-shaped housing has an end surface remote from the second side of the vehicle;

the first LIDAR is disposed along the first side between the dividing structure and the end surface of the dome-shaped housing; and

the second LIDAR is disposed along the second side between the dividing structure and the second side of the vehicle.

5. The vehicle of claim 3, wherein the dividing structure supports the first LIDAR within the dome-shaped housing.

6. The vehicle of claim 3, wherein the dividing structure optically isolates the first LIDAR from the second LIDAR.

7. The vehicle of claim 2, wherein the dome-shaped housing comprises a light filter.

8. The vehicle of claim 7, wherein the light filter is:

substantially transparent to light having wavelengths with one or more wavelength ranges of the first and second LIDARs; and

substantially opaque to light having wavelengths outside the one or more wavelength ranges of the first and second LIDARs.

9. The vehicle of claim 7, wherein different portions of the light filter are configured to allow different wavelength ranges to propagate through the light filter.

10. The vehicle of claim 9, wherein a first portion of the light filter allows propagation of a first wavelength range corresponding to a wavelength range of the first LIDAR, and a second portion of the light filter allows propagation of a second wavelength range corresponding to a wavelength range of the second LIDAR.

11. The vehicle of claim 1, further comprising a dividing structure disposed within the sensor unit housing and arranged between the first LIDAR and the second LIDAR.

12. The vehicle of claim 11, wherein the dividing structure optically isolates the first LIDAR from the second LIDAR.

13. The vehicle of claim 11, wherein the dividing structure supports the first LIDAR within the sensor unit housing.

14. The vehicle of claim 1, wherein the second field of view of the second LIDAR is narrower than the first field of view of the first LIDAR.

15. The vehicle of claim 1, wherein the first LIDAR is configured to completely rotate about the given axis to provide a 360°

field of view, and the second LIDAR is configured to partially rotate about the given axis to provide less than a 360°

field of view.

16. The vehicle of claim 15, further comprising a platform member configured to mechanically rotate the first LIDAR about the given axis.

17. The vehicle of claim 1, wherein the first LIDAR includes a plurality of light sources.

18. The vehicle of claim 1, further comprising an actuator configured to adjust a viewing direction of the second LIDAR.

19. The vehicle of claim 18, wherein the actuator comprises a motor.

20. The vehicle of claim 1, further comprising a moveable platform configured to change an alignment of the given axis relative to the second side of the vehicle.

21. The vehicle of claim 1, further comprising a computer system operatively coupled to the first LIDAR and the second LIDAR to drive the vehicle in an autonomous mode of operation.

22. The vehicle of claim 1, wherein the second side is a roof of the vehicle.

23. The vehicle of claim 1, further comprising at least one camera disposed in the sensor unit housing.

24. The vehicle of claim 23, wherein the at least one camera is configured to receive control signals to adjust the at least one camera in response to detection of an object or other road condition.

25. The vehicle of claim 1, further comprising at least one radio detection and ranging (RADAR) unit disposed in the sensor unit housing.