Pulse timing based on angle of view
First Claim
1. A method of controlling a pulse rate in a lidar system, the method comprising:
- emitting light pulses by a light source in the 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, including directing the light pulses at different angles relative to a front-facing direction with respect to the lidar system toward different points within the field of regard, including;
when the scanner is directing light pulses at a first scan angle relative to the front-facing direction, causing the light source to emit the light pulses at a first pulse rate, andwhen the scanner is directing light pulses at a second scan angle relative to the front-facing direction, causing the light source to emit the light pulses at a second pulse rate different from the first pulse rate; and
causing the light source to emit the light pulses having at least one of;
(i) an amount of average power in a constant energy mode, wherein the amount of average power increases when the pulse rate increases, or (ii) an amount of energy per light pulse in a constant power mode, wherein the amount of energy per light pulse increases when the pulse rate decreases; 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 the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the orientations of the light pulses. For example, the pulse rate may be slower near the front of the lidar system and faster near the periphery. In another example, the pulse rate may be faster near the front of the lidar system and slower near the periphery.
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Citations
18 Claims
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1. A method of controlling a pulse rate in a lidar system, the method comprising:
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emitting light pulses by a light source in the 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, including directing the light pulses at different angles relative to a front-facing direction with respect to the lidar system toward different points within the field of regard, including; when the scanner is directing light pulses at a first scan angle relative to the front-facing direction, causing the light source to emit the light pulses at a first pulse rate, and when the scanner is directing light pulses at a second scan angle relative to the front-facing direction, causing the light source to emit the light pulses at a second pulse rate different from the first pulse rate; and causing the light source to emit the light pulses having at least one of;
(i) an amount of average power in a constant energy mode, wherein the amount of average power increases when the pulse rate increases, or (ii) an amount of energy per light pulse in a constant power mode, wherein the amount of energy per light pulse increases when the pulse rate decreases; anddetecting, 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)
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9. 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 including direct the light pulses at different angles relative to a front-facing direction with respect to the lidar system toward different points within the field of regard; a controller configured to adjust a pulse rate at which the light pulses are emitted by the light source, including; when the scanner is directing light pulses at a first scan angle relative to the front-facing direction, cause the light source to emit the light pulses at a first pulse rate, and when the scanner is directing light pulses at a second scan angle relative to the front-facing direction, cause the light source to emit the light pulses at a second pulse rate different from the first pulse rate; and cause the light source to emit the light pulses having at least one of;
(i) an amount of average power in a constant energy mode, wherein the amount of average power increases when the pulse rate increases, or (ii) an amount of energy per light pulse in a constant power mode, wherein the amount of energy per light pulse increases when the pulse rate decreases; anda 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 (10, 11, 12, 13, 14, 15)
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16. A controller in a lidar system comprising:
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one or more processors; and a non-transitory computer-readable memory coupled to the one or more processors and storing instructions thereon that, when executed by the one or more processors, cause the controller to; receive an indication of a scan angle at which a scanner directs light pulses emitted by a light source, wherein the scan angle is one of a plurality of different scan angles relative to a front-facing direction with respect to the lidar system within a field of regard of the lidar system; compare the scan angle to a threshold orientation; in response to determining that the scan angle exceeds the threshold orientation, provide a control signal to the light source to emit the light pulses at a first pulse rate; and in response to determining that the scan angle does not exceed the threshold orientation, provide a control signal to the light source to emit the light pulses at a second pulse rate different from the first pulse rate; and cause the light source to emit the light pulses having at least one of;
(i) an amount of average power in a constant energy mode, wherein the amount of average power increases when the pulse rate increases, or (ii) an amount of energy per light pulse in a constant power mode, wherein the amount of energy per light pulse increases when the pulse rate decreases. - View Dependent Claims (17, 18)
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Specification