Compensating for the vibration of the vehicle
First Claim
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1. A method for compensating for vibration in a lidar system, the method comprising:
- emitting light pulses by a light source in the lidar system;
generating a drive signal for a scanner in the lidar system to direct the light pulses across a field of regard of the lidar system toward different points within the field of regard;
determining an amount of vibration at the lidar system via an accelerometer, gyroscope, or inertial measurement unit (IMU);
generating a compensation signal that reduces effects of vibration on the scanner based on the determined amount of vibration; and
combining the drive signal for the scanner with the compensation signal.
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Abstract
To compensate for the effects of vibration on a lidar system in a vehicle, a vibration sensor within the lidar system and/or the vehicle detects vibration, such as a gyroscope, accelerometer, inertial measurement unit (IMU), etc. The detected vibration is then used to generate a compensation signal. The compensation signal is combined with a drive signal that drives a scanner configured to direct light pulses across a field of regard. The combined signal is provided to the scanner, and accordingly, the light pulses are accurately directed across the field of regard.
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Citations
22 Claims
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1. A method for compensating for vibration in a lidar system, the method comprising:
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emitting light pulses by a light source in the lidar system; generating a drive signal for a scanner in the lidar system to direct the light pulses across a field of regard of the lidar system toward different points within the field of regard; determining an amount of vibration at the lidar system via an accelerometer, gyroscope, or inertial measurement unit (IMU); generating a compensation signal that reduces effects of vibration on the scanner based on the determined amount of vibration; and combining the drive signal for the scanner with the compensation signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A lidar system comprising:
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a light source configured to emit light pulses; a scanner configured to scan a field of regard of the lidar system including directing the light pulses at different angles toward different points within the field of regard; a controller configured to drive the scanner to direct the light pulses across the field of regard, including; generate a drive signal for directing the light pulses across the field of regard; obtain an indication of an amount of vibration at the lidar system from an accelerometer, gyroscope, or inertial measurement unit (IMU); generate a compensation signal that reduces effects of vibration on the scanner based on the determined amount of vibration; combine the drive signal for the scanner with the compensation signal; and provide the combined signal to the scanner; 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 (12, 13, 14, 15, 16)
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17. An autonomous vehicle comprising:
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an inertial measurement unit (IMU) configured to provide a vibration signal corresponding to an amount of vibration at the autonomous vehicle; one or more components configured to maneuver the autonomous vehicle; a lidar system configured to detect objects within a threshold distance of the autonomous vehicle, the lidar system including; a light source configured to emit light pulses; a scanner configured to scan a field of regard of the lidar system; a lidar controller configured to drive the scanner to scan the light pulses across the field of regard, including; generate a drive signal for directing the light pulses across the field of regard; receive from the IMU the vibration signal corresponding to the amount of vibration at the autonomous vehicle; generate a compensation signal that reduces effects of vibration on the scanner based on the amount of vibration; combine the drive signal for the scanner with the compensation signal; and provide the combined signal to the scanner; and a detector configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels corresponding to a point cloud representing the field of regard; and a vehicle controller configured to provide control signals to the one or more components to maneuver the autonomous vehicle in accordance with data from the point cloud. - View Dependent Claims (18, 19, 20, 21, 22)
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Specification