Multiple Pulse, LIDAR Based 3-D Imaging

• US 20170219695A1
• Filed: 10/31/2016
• Published: 08/03/2017
• Est. Priority Date: 01/31/2016
• Status: Active Grant

• Current Assignee: Velodyne Lidar USA, Inc. (Ouster, Inc.)
• Original Assignee: Velodyne LiDAR, Inc. (Ouster, Inc.)
• Inventors: Hall, David S., Kerstens, Pieter J.
• Granted Patent: US 10,627,490 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 17/06 Systems determining position data 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 17/42 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 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/484 Transmitters

Abstract

Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

Claims

1. A light detection and ranging (LIDAR) device, comprising:

a multiple pulse illumination source emitting a multi-pulse beam of illumination light from the LIDAR device into a three dimensional environment, the multi-pulse beam of illumination light illuminates a particular spot of the three dimensional environment with a measurement pulse sequence of illumination light including multiple pulses of illumination light;

a photosensitive detector that detects an amount of the measurement pulse sequence reflected from the particular spot of the three dimensional environment illuminated by the multi-pulse beam of illumination light and generates an output signal indicative of the detected amount of light; and

a computing system configured to;

receive the output signal indicative of the detected amount of light;

convert the output signal to a digital signal; and

determine a time of flight of the measurement pulse sequence from the LIDAR device to the particular spot of the three dimensional environment and back to the LIDAR device based on the digital signal.

2. The LIDAR device of claim 1, wherein the multiple pulse illumination source includes:

a pulsed light emitting device;

a plurality of electrical energy storage elements selectively coupled to the pulsed light emitting device;

a plurality of switching elements configured to selectively couple each of the plurality of energy storage elements to the pulsed light emitting device; and

an electrical energy source electrically coupled to the plurality of electrical energy storage elements, wherein the electrical energy source provides electrical energy to the plurality of electrical energy storage devices.

3. The LIDAR device of claim 2, wherein the computing system is further configured to:

communicate a control signal to each of the plurality of switching elements, wherein the control signal causes one or more of the plurality of switching elements to change state from a substantially electrically non-conductive state to a substantically electrically conductive state.

4. The LIDAR device of claim 3, wherein the control signal causes a sequence of electrical discharges from more than one electrical storage element to the pulsed light emitting device, and wherein the pulsed light emitting device receives the sequence of electrical discharges and generates the multi-pulse beam of illumination light.

5. The LIDAR device of claim 4, wherein the multi-pulse beam of illumination light includes a first pulse having a first amplitude and a second pulse having a second amplitude greater or smaller than the first amplitude.

6. The LIDAR device of claim 4, wherein the multi-pulse illumination beam includes a first pulse having a first duration and a second pulse having a second duration greater or smaller than the first duration.

7. The LIDAR device of claim 4, wherein the multi-pulse illumination beam includes a first pulse having a first duration and a first amplitude and a second pulse having a second duration and a second amplitude, wherein the second amplitude is greater than the first amplitude, and the second duration is greater than the first duration.

8. The LIDAR device of claim 4, wherein the multi-pulse illumination beam is encoded according to any of a code diversity scheme, an amplitude diversity scheme, and a time diversity scheme.

9. The LIDAR device of claim 1, wherein the computing system is further configured to:

determine a time of detection associated with each of a plurality of successive instances of the output signal that exceed a threshold value; and

determine if a time between each of the successive instances is substantially similar to a time between multiple pulses of the multi-pulse beam of illumination light, wherein the determining of the time of flight of the multi-pulse beam of illumination light is based on a difference between a time when the multi-pulse beam is emitted from the LIDAR device and the time of detection associated with each of the plurality of successive instances of the output signal that exceed the threshold value.

10. The LIDAR device of claim 1, wherein the computing system is further configured to:

filter the output signal; and

determine an instance when the filtered output signal exceeds a threshold value, wherein the determining of the time of flight of the multi-pulse beam of illumination light is based on a difference between a time when the multi-pulse beam is emitted from the LIDAR device and a time of detection associated with the instance when the filtered output signal exceeds the threshold value.

11. The LIDAR device of claim 10, wherein the filtering involves a signature detection filter.

12. The LIDAR device of claim 1, wherein the output signal indicative of the detected amount of light is generated during a measurement time window having a duration that exceeds the time of flight of light over a distance that is twice the measurement range of the LIDAR device.

13. A light detection and ranging (LIDAR) device, comprising:

a multiple pulse illumination source emitting a multi-pulse beam of illumination light from the LIDAR device into a three dimensional environment, the multi-pulse beam of illumination light illuminates a particular spot of the three dimensional environment with a measurement pulse sequence of illumination light including multiple pulses of illumination light;

a photosensitive detector that detects an amount of the measurement pulse sequence reflected from the particular spot of the three dimensional environment illuminated by the multi-pulse beam of illumination light and generates an output signal indicative of the detected amount of light; and

a non-transitory computer readable medium storing an amount of program code that when executed by a computing system causes the computing system to;

receive the output signal indicative of the detected amount of light;

convert the output signal to a digital signal; and

determine a time of flight of the measurement pulse sequence from the LIDAR device to the particular spot of the three dimensional environment and back to the LIDAR device based on the digital signal.

14. The LIDAR device of claim 13, wherein the multi-pulse beam of illumination light includes a first pulse having a first amplitude and a second pulse having a second amplitude greater or smaller than the first amplitude.

15. The LIDAR device of claim 13, wherein the multi-pulse illumination beam includes a first pulse having a first duration and a second pulse having a second duration greater or smaller than the first duration.

16. The LIDAR device of claim 13, wherein the multi-pulse illumination beam is encoded according to any of a code diversity scheme, an amplitude diversity scheme, and a time diversity scheme.

17. The LIDAR device of claim 13, wherein the amount of program code further causes the computing system to:

filter the output signal; and

determine an instance when the filtered output signal exceeds a threshold value, wherein the determining of the time of flight of the multi-pulse beam of illumination light is based on a difference between a time when the multi-pulse beam is emitted from the LIDAR device and a time of detection associated with the instance when the filtered output signal exceeds the threshold value.

18. The LIDAR device of claim 13, wherein the output signal indicative of the detected amount of light is generated during a measurement time window having a duration that exceeds the time of flight of light over a distance that is twice the measurement range of the LIDAR device

19. A method comprising:

emitting a multi-pulse beam of illumination light from a LIDAR device into a three dimensional environment, the multi-pulse beam of illumination light illuminates a particular spot of the three dimensional environment with a measurement pulse sequence of illumination light including multiple pulses of illumination light;

detecting an amount of the measurement pulse sequence reflected from the particular spot of the three dimensional environment illuminated by the multi-pulse beam of illumination light;

generating an output signal indicative of the detected amount of light;

converting the output signal to a digital signal; and

determining a time of flight of the measurement pulse sequence from the LIDAR device to the particular spot of the three dimensional environment and back to the LIDAR device based on the digital signal.

20. The method of claim 19, wherein the multi-pulse beam of illumination light includes a first pulse having a first amplitude and a second pulse having a second amplitude greater or smaller than the first amplitude, a first pulse having a first duration and a second pulse having a second duration greater or smaller than the first duration, or a combination thereof.

21. The method of claim 19, wherein the multi-pulse illumination beam is encoded according to any of a code diversity scheme, an amplitude diversity scheme, and a time diversity scheme.

22. The method of claim 19, further comprising:

filtering the output signal; and

determining an instance when the filtered output signal exceeds a threshold value, wherein the determining of the time of flight of the measurement pulse sequence is based on a difference between a time when the measurement pulse sequence is emitted from the LIDAR device and a time of detection associated with the instance when the filtered output signal exceeds the threshold value.

23. The method of claim 19, wherein the amount of the measurement pulse sequence reflected from the particular spot of the three dimensional environment illuminated by the multi-pulse beam of illumination light is detected during a measurement time window having a duration that exceeds the time of flight of light over a distance that is twice the measurement range of the LIDAR device.