Hyper-resolved, high bandwidth scanned LIDAR systems

• US 10,725,177 B2
• Filed: 08/02/2019
• Issued: 07/28/2020
• Est. Priority Date: 01/29/2018
• Status: Active Grant

• Current Assignee: Samsung Semiconductor Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Gerard Dirk Smits
• Inventors: Smits, Gerard Dirk
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US16/530,818
• Publication Number:
  US 20200064474A1
• Time in Patent Office: 361 Days
• 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 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/4863 Detector arrays, e.g. charge-transfer gates
• CPC Class Codes: G01T 1/248 Silicon photomultipliers [SiPM], e.g. an avalanche photodiode [APD] array on a common Si substrate

Abstract

Embodiments are directed toward a scanning LIDAR system that measures a distance to a target that reflects light from a transmitter to a receiver. A light transmitter is arranged to scan pulses of light that reflect off a remote surface (target) and illuminate fractions of the Field of View (FoV) of a receiver, such as a camera. These fractions of the FoV are smaller than a resolution provided by an array of pixels used to detect Time of Flight (ToF) reflections of the scanned pulses of light from a remote surface. The exemplary scanning LIDAR system may resolve an image of the remote surface at substantially higher resolution than the pixel resolution provided by its receiver.

Claims

1. A method for measuring a range of a target, comprising:

employing a transmitter to continuously scanning pin pricks of light to detect an edge of the target from one or more reflections of the scanned pin pricks of light;

in response to detection of the edge of the target, scanning pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a view of a same pixel in an array of pixels that are provided by a receiver of one or more reflections of the scanned pulses of light from the target; and

employing one or more processor devices to determine the range of the target based on the pulses of light scanned by the emitter and the one or more reflections of the scanned pulses of light from the target that are received by the receiver.

2. The method of claim 1, wherein employing the one or more processors to determine the range of the target further comprises:

employing an image resolution of the target that is greater than a pixel resolution of the array of pixels based on the timing advancement for the fractional increments that is correlated to the scanned pulses of reflected light sensed by one or more of the array of pixels.

3. The method of claim 1, wherein each scanned pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light.

4. The method of claim 1, wherein employing the one or more processor devices further comprises one or more of:

determining one or more departure times of the scanned pulses of light towards the target;

or

determining one or more received times of the one or more reflections of the scanned pulses of light from the target.

5. The method of claim 1, further comprising:

employing the transmitter to scan the pulses of light toward the target in a first direction; and

employing another transmitter to scan other pulses of light toward the target in a second direction that is orthogonal to the first direction.

6. The method of claim 1, wherein the pixel array further comprises:

arranging the pixel array in one or more of rows or columns; and

employing a rolling shutter activation of the one or more rows or columns in a received direction of the one or more reflections of the scanned pulses of light.

7. The method of claim 1, wherein the scanned pulses of light are focused to form a thin blade of light that is directed to the target.

8. A system to provide a range of a target, comprising:

a transmitter to perform actions, including;

continuously scanning pin pricks of light to detect an edge of the target from one or more reflections of the scanned pin pricks of light; and

in response to detection of the edge of the target, scanning pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a view of a same pixel in an array of pixels that are provided by a receiver of one or more reflections of the scanned pulses of light from the target; and

one or more processor devices to determine the range of the target based on the pulses of light scanned by the emitter and the one or more reflections of the scanned pulses of light from the target that are received by the receiver.

9. The system of claim 8, wherein employing the one or more processors to determine the range of the target further comprises:

employing an image resolution of the target that is greater than a pixel resolution of the array of pixels based on the timing advancement for the fractional increments that is correlated to the scanned pulses of reflected light sensed by one or more of the array of pixels.

10. The system of claim 8, wherein each scanned pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light.

11. The system of claim 8, wherein employing the one or more processor devices further comprises one or more of:

determining one or more departure times of the scanned pulses of light towards the target;

or

determining one or more received times of the one or more reflections of the scanned pulses of light from the target.

12. The system of claim 8, further comprising:

employing the transmitter to scan the pulses of light toward the target in a first direction; and

employing another transmitter to scan other pulses of light toward the target in a second direction that is orthogonal to the first direction.

13. The system of claim 8, wherein the pixel array further comprises:

arranging the pixel array in one or more of rows or columns; and

employing a rolling shutter activation of the one or more rows or columns in a received direction of the one or more reflections of the scanned pulses of light.

14. The system of claim 8, wherein the scanned pulses of light are focused to form a thin blade of light that is directed to the target.

15. A non-transitory processor readable storage media that includes instructions for measuring a range to a target, wherein execution of the instructions by one or more processor devices cause the one or more processor devices to perform actions, comprising:

employing a transmitter to continuously scanning pin pricks of light to detect an edge of the target from one or more reflections of the scanned pin pricks of light;

in response to detection of the edge of the target, scanning pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a view of a same pixel in an array of pixels that are provided by a receiver of one or more reflections of the scanned pulses of light from the target; and

determining the range of the target based on the pulses of light scanned by the emitter and the one or more reflections of the scanned pulses of light from the target that are received by the receiver.

16. The non-transitory processor readable storage media of claim 15, wherein each scanned pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light.

17. The non-transitory processor readable storage media of claim 15, wherein employing the one or more processor devices further comprises one or more of:

determining one or more departure times of the scanned pulses of light towards the target;

or

determining one or more received times of the one or more reflections of the scanned pulses of light from the target.

18. The non-transitory processor readable storage media of claim 15, further comprising:

employing the transmitter to scan the pulses of light toward the target in a first direction; and

employing another transmitter to scan other pulses of light toward the target in a second direction that is orthogonal to the first direction.

19. The non-transitory processor readable storage media of claim 15, wherein the pixel array further comprises:

arranging the pixel array in one or more of rows or columns; and

employing a rolling shutter activation of the one or more rows or columns in a received direction of the one or more reflections of the scanned pulses of light.

20. The non-transitory processor readable storage media of claim 15, wherein the scanned pulses of light are focused to form a thin blade of light that is directed to the target.