LIDAR system with vehicle-integrated beam guide

• US 10,302,746 B2
• Filed: 12/28/2017
• Issued: 05/28/2019
• Est. Priority Date: 05/18/2016
• Status: Active Grant

• Current Assignee: O'Keeffe, James Thomas
• Original Assignee: O'Keeffe, James Thomas
• Inventors: O'Keeffe, James Thomas
• Primary Examiner(s): Bolda, Eric L
• Application Number:
  US15/856,637
• Publication Number:
  US 20180120440A1
• Time in Patent Office: 516 Days
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• 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 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds

Abstract

Mounting a LIDAR above or external to a vehicle can enhance the LIDAR field of view but can conflict with vehicle aesthetics and ergonomics. Within embodiments, vehicle-integrated systems for distributing laser beams around a vehicle to increase coverage with a low-profile laser range finder are disclosed. A LIDAR can be embedded beneath a roof or body panel of a vehicle as part of a laser distribution system including a set of reflectors and lenses operable to adapt the LIDAR field of view to the vehicle shape. The set of embedded reflectors can guide laser beams parallel (e.g. within the roof structure), to and from the set of lenses at the roof edge to transmit the guided laser into regions of the surrounding beyond the direct field of view of the LIDAR. In other embodiments a beam guide (e.g. including a headlight assembly) can enable a LIDAR to perform ranging from behind a vehicle body panel.

Claims

1. A system comprising:

a laser range finder mounted on a vehicle, the laser range finder having a field of view, and

a beam guide, the beam guide comprising;

a first end to receive a laser beam from the laser range finder in an input direction,

a lens located at a second end of the beam guide to transmit the laser beam beyond the vehicle with an output direction based on the input direction, wherein the lens and the laser range finder are separated by at least a portion of a cavity behind a body panel, and

wherein the beam guide extends at least in part within the cavity located behind the body panel on the vehicle, and further wherein the laser beam travels in the cavity from the first end to the second end of the beam guide.

2. The system of claim 1 wherein the lens is shared by at least one light assembly on the vehicle.

3. The system of claim 1 wherein the lens refracts the laser beam into a region obscured from direct line of sight at the laser range finder by at least a portion of the vehicle.

4. The system of claim 1 wherein the beam guide further comprises at least one reflector in the cavity that functions to reflect the laser beam from the laser range finder and thereby change a direction of the laser beam from the input direction.

5. The system of claim 1 wherein the beam guide further comprises:

a motorized reflector with a variable position to reflect the laser beam by a variable amount and thereby at least in part determine the output direction of the laser beam; and

a controller to control the variable position of the motorized reflector.

6. The system of claim 1 further comprising one or more reflectors to reflect the laser beam into the cavity and thereby guide the laser beam to the perimeter of the vehicle roof.

7. The system of claim 1 further comprising:

a laser detector to detect a laser reflection of the laser beam, the laser reflection being carried in the beam guide from a reflection location, and

circuitry to calculate based on the laser reflection a 3-dimensional location indicative of the reflection location.

20. The system of claim 1, wherein the beam guide transmits the laser beam into a region of space that is obscured by at least a portion of the vehicle from a direct line of sight at the laser range finder.

8. A system comprising:

a laser range finder mounted on a vehicle, the laser range finder having a field of view; and

a beam guide comprising;

a first end to receive, from the laser range finder, a plurality of laser beams each with a corresponding input direction in an input angular range, and

a lens, separate from the laser range finder, the lens being located at a second end of the beam guide,

wherein the lens functions to transmit each of the plurality of laser beams beyond the vehicle with a corresponding output direction that is based on the input direction, wherein the lens and the laser range finder are separated by at least a portion of a cavity behind a body panel

further wherein the beam guide extends at least in part within the cavity located behind the body panel on the vehicle, to guide the plurality of laser beams from the first end to the second end of the beam guide.

9. The system of claim 8 wherein the lens is located at a perimeter of the body panel and thereby provides a location for the plurality of laser beams to emerge from the cavity located behind the body panel.

10. The system of claim 8 further comprising an adapter positioned at least partially within the field of view of the laser range finder and comprising:

a first opening that functions to transmit a first non-zero subset of the plurality of laser beams into the beam guide each with corresponding directions in a first subset of the input angular range and

a second opening that functions to transmit a second non-zero subset of the plurality of laser beams into the beam guide each with corresponding directions in a second subset of the input angular range that is exclusive from the first subset of the input angular range.

11. The system of claim 8 further comprising an adapter,

wherein the adapter is attached to the laser range finder and is attached to the beam guide, and

wherein the adapter comprises a mirror located at least partially within the field of view of the laser range finder.

12. The system of claim 8 wherein the beam guide further comprises at least one reflector in the cavity that functions to reflect the plurality of laser beams from the laser range finder and thereby guide the plurality of laser beams from the first end to the second end of the beam guide.

13. The system of claim 8 wherein the lens functions to spread the input angular range into an output angular range that is at least three times wider in at least one dimension than the input angular range.

14. The system of claim 8 wherein the field of view has a direct portion of the field of view comprising all directions in which the laser range finder can directly emit a laser beam beyond the vehicle and

wherein, the laser range finder further comprises:

a laser detector to detect a plurality of laser reflections, corresponding to the plurality of laser beams from reflection locations beyond the vehicle and outside of the direct portion of the field of view, and

circuitry to calculate using the plurality of laser reflections 3-dimensional locations indicative of the reflection locations.

15. A method for guiding a laser within a cavity behind a body panel of a vehicle, the method comprising:

generating with a laser range finder a laser beam;

at a beam guide comprising a first end, a second end with a lens and the cavity located behind the body panel of a vehicle, receiving the laser beam in an input direction at the first end, wherein the lens and the laser range finder are separated by at least a portion of the cavity behind the body panel;

guiding the laser beam in the cavity extending behind the body panel of the vehicle to the second end; and

transmitting with the lens, the laser beam beyond the bounds of the vehicle in an output direction that is based at least in part on the input direction.

16. The method of claim 15 further comprising the steps of receiving at the laser range finder a reflection from the laser beam including the step of guiding the reflection from the laser beam in the cavity behind the body panel.

17. The method of claim 15 wherein the step of guiding the laser beam in the cavity behind the body panel of the vehicle further comprises the step of reflecting the laser beam with at least one reflector positioned in the cavity and thereby changing a direction of the laser beam from the input direction.

18. The method of claim 15 further comprising the step of prior to generating the laser beam reconfiguring at least one optical element in the beam guide by electronically controlling the at least one optical element with circuitry operably coupled to the laser range finder.

19. The method of claim 15 further comprising the steps of:

transmitting the laser beam using the beam guide to an object beyond the vehicle that is obscured from direct line of sight at the laser range finder by at least a portion of the vehicle;

receiving at the laser range finder, through the beam guide, a laser reflection from the object, corresponding to the laser beam; and

calculating with the laser range finder a 3-dimensional location for at least a portion of the object using the laser reflection.