Cross-talk mitigation using wavelength switching
First Claim
1. A lidar system comprising:
- a lighting module configured to (i) select a wavelength from among a plurality of wavelength values, for a particular time period, and (ii) concurrently emit a plurality of beams of light, including emit light in a first one of the plurality of beams at the selected wavelength and apply a respective offset to the selected wavelength for each remaining beam in the plurality of beams, wherein the lighting module emits light in the first one of the plurality of beams at different wavelengths during at least two adjacent periods of time;
a scanner configured to direct the emitted light to illuminate different regions within a field of regard of the lidar system, to scan the field of regard of the lidar system; and
a receiver module including a plurality of single-photon detectors, each for detecting a respective one of the plurality of beams and configured to (i) receive a light signal, (ii) determine whether the received light signal includes light at a wavelength of the corresponding one of the plurality of beams, emitted by the lighting module and scattered by a remote target, and (iii) generate a respective row of pixels.
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Accused Products
Abstract
A lidar system includes a lighting module configured to (i) select a wavelength from among a plurality of wavelength values, for a particular time period, and (ii) emit light at the selected wavelength. The lighting module emits light at different wavelengths during at least two adjacent periods of time. The lidar system further includes a scanner configured to direct the pulse of light to illuminate a respective region within a field of regard of the lidar system and a receiver module configured to (i) receive a light signal and (ii) determine whether the received light signal includes the light emitted by the lighting module and scattered by a remote target, based at least in part on the wavelength selected by the lighting module.
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Citations
26 Claims
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1. A lidar system comprising:
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a lighting module configured to (i) select a wavelength from among a plurality of wavelength values, for a particular time period, and (ii) concurrently emit a plurality of beams of light, including emit light in a first one of the plurality of beams at the selected wavelength and apply a respective offset to the selected wavelength for each remaining beam in the plurality of beams, wherein the lighting module emits light in the first one of the plurality of beams at different wavelengths during at least two adjacent periods of time; a scanner configured to direct the emitted light to illuminate different regions within a field of regard of the lidar system, to scan the field of regard of the lidar system; and a receiver module including a plurality of single-photon detectors, each for detecting a respective one of the plurality of beams and configured to (i) receive a light signal, (ii) determine whether the received light signal includes light at a wavelength of the corresponding one of the plurality of beams, emitted by the lighting module and scattered by a remote target, and (iii) generate a respective row of pixels. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for scanning a field of regard of a lidar system, the method comprising:
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selecting a first wavelength from among a plurality of wavelength values; emitting, by a lighting module, light at the selected first wavelength during a first time period; detecting a triggering event for changing the first wavelength, including detecting that a scan of the entire field of regard of the lidar system, corresponding to one frame of pixels, has been completed; in response to detecting the triggering event, selecting a second wavelength from among the plurality of wavelength values; emitting, by the lighting module, light at the selected second wavelength during a second time period; receiving light signals during the first time period and the second time period; determining whether the received light signal includes the light emitted by the lighting module and scattered by a remote target, based at least in part on the wavelength used by the lighting module during the corresponding time period; and using the received light to generate pixels only if it is determined that the received light signal includes the light emitted by the lighting module during the corresponding time period. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. An autonomous vehicle comprising:
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one or more components configured to maneuver the autonomous vehicle; a lidar system configured to generate a point cloud representing objects within a field of regard of the lidar system, the lidar system including; a lighting module configured to emit pulses of light at different wavelengths during different respective periods of time; a scanner configured to direct the emitted pulses of light to illuminate respective regions within the field of regard of the lidar system; and a receiver module configured to receive light signals and generate pixels for the point cloud based on the received light signals only when a received light signal includes a wavelength at which the lighting module emitted a pulse of light during a corresponding period of time; and a vehicle controller configured to (i) analyze the point cloud, (ii) detect a cross-talk event based on analyzing the point cloud, and (iii) in response to detecting the cross-talk event, provide a command to the lidar system to switch to a different wavelength, the vehicle controller further configured to provide control signals to the one or more components to maneuver the autonomous vehicle, based at least in part on the point cloud generated from the lidar system.
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18. A method for scanning a field of regard of a lidar system, the method comprising:
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selecting a first wavelength from among a plurality of wavelength values; emitting, by a lighting module, light at the selected first wavelength during a first time period; detecting a triggering event for changing the first wavelength, including detecting that a scan of one horizontal scan line has been completed; in response to detecting the triggering event, selecting a second wavelength from among the plurality of wavelength values; emitting, by the lighting module, light at the selected second wavelength during a second time period; receiving light signals during the first time period and the second time period; determining whether the received light signal includes the light emitted by the lighting module and scattered by a remote target, based at least in part on the wavelength used by the lighting module during the corresponding time period; and using the received light to generate pixels only if it is determined that the received light signal includes the light emitted by the lighting module during the corresponding time period. - View Dependent Claims (19, 20, 21)
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22. A method for scanning a field of regard of a lidar system, the method comprising:
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selecting a first wavelength from among a plurality of wavelength values; emitting, by a lighting module, light at the selected first wavelength during a first time period; detecting a triggering event for changing the first wavelength; in response to detecting the triggering event, randomly selecting a second wavelength from among the plurality of wavelength values; emitting, by the lighting module, light at the selected second wavelength during a second time period; receiving light signals during the first time period and the second time period; determining whether the received light signal includes the light emitted by the lighting module and scattered by a remote target, based at least in part on the wavelength used by the lighting module during the corresponding time period; and using the received light to generate pixels only if it is determined that the received light signal includes the light emitted by the lighting module during the corresponding time period. - View Dependent Claims (23, 24, 25, 26)
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Specification