Lidar system with optical trigger

• US 10,340,651 B1
• Filed: 08/21/2018
• Issued: 07/02/2019
• Est. Priority Date: 08/21/2018
• Status: Active Grant

• Current Assignee: Luminar Technologies, Inc.
• Original Assignee: Luminar Technologies, Inc.
• Inventors: Drummer, Mark A., Campbell, Scott R., Villeneuve, Alain, Lingvay, Laurance S.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US16/106,238
• Time in Patent Office: 315 Days
• Field of Search: 356 401
• 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 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4818 using optical fibres
• 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: G01S 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: H01S 3/06754 Fibre amplifiers H01S3/06708 takes precedence
• CPC Class Codes: H01S 3/094003 the pumped medium being a fibre
• CPC Class Codes: H01S 3/1608 erbium
• CPC Class Codes: H01S 3/1618 ytterbium

Abstract

In one embodiment, a lidar system includes a light source configured to emit a ranging pulse of light that is directed into a field of regard of the lidar system. The lidar system also includes a fiber-optic splitter configured to split off a portion of the ranging pulse of light to produce a trigger pulse of light that is directed to a receiver of the lidar system. The receiver is configured to detect, at a first time, at least a portion of the trigger pulse of light; and detect, at a second time subsequent to the first time, a portion of the ranging pulse of light scattered by a target located a distance from the lidar system. The lidar system further includes a processor configured to determine the distance from the lidar system to the target based at least in part on the first time and the second time.

Claims

1. A lidar system comprising:

a light source configured to emit a ranging pulse of light that is directed into a field of regard of the lidar system, wherein the light source comprises a seed laser diode configured to produce a seed pulse of light and an optical amplifier configured to amplify the seed pulse of light to produce the ranging pulse of light;

a fiber-optic splitter located within the light source, wherein the fiber-optic splitter is configured to split off a portion of the ranging pulse of light to produce a trigger pulse of light that is directed to a receiver of the lidar system;

the receiver, wherein the receiver is configured to;

detect, at a first time, at least a portion of the trigger pulse of light; and

detect, at a second time subsequent to the first time, a portion of the ranging pulse of light scattered by a target located a distance from the lidar system; and

a processor configured to determine the distance from the lidar system to the target based at least in part on the first time and the second time.

2. The lidar system of claim 1, wherein the fiber-optic splitter comprises:

an input fiber configured to receive the ranging pulse from an output fiber of the light source;

a monitor fiber configured to direct the trigger pulse to the receiver; and

a main output fiber configured to receive the ranging pulse after the trigger pulse has been split off and direct the ranging pulse to a collimator to produce a free-space output beam.

3. The lidar system of claim 1, wherein the fiber-optic splitter is located between the seed laser and the optical amplifier, wherein splitting off the portion of the ranging pulse to produce the trigger pulse comprises splitting off the portion of the ranging pulse produced by the seed laser prior to the ranging pulse being amplified by the optical amplifier.

4. The lidar system of claim 1, wherein:

the optical amplifier comprises a first amplifier stage and a second amplifier stage located after the first amplifier stage; and

the fiber-optic splitter is located between the first and second amplifier stages, wherein splitting off the portion of the ranging pulse to produce the trigger pulse comprises splitting off the portion of the ranging pulse after being amplified by the first amplifier stage and prior to being amplified by the second amplifier stage.

5. The lidar system of claim 1, wherein the optical amplifier comprises one or more fiber-optic amplifier stages.

6. The lidar system of claim 1, further comprising an optical-delay fiber configured to temporally delay the ranging pulse with respect to the trigger pulse, wherein:

the optical-delay fiber comprises a length of optical fiber located after the fiber-optic splitter; and

after the trigger pulse is split off from the ranging pulse, the ranging pulse propagates through the length of optical fiber.

7. The lidar system of claim 6, wherein the optical-delay fiber provides a temporal delay of the ranging pulse with respect to the trigger pulse of between 1 ns and 200 ns.

8. The lidar system of claim 6, wherein the receiver is further configured to detect, after the first time and prior to the second time, internally scattered light from the ranging pulse scattered from within the lidar system.

9. The lidar system of claim 8, wherein the internally scattered light comprises light from the ranging pulse scattered by a window of the lidar system.

10. The lidar system of claim 9, wherein the processor is further configured to determine, based at least in part on the internally scattered light detected by the receiver, that at least a portion of the window is obscured or damaged.

11. The lidar system of claim 10, wherein, the processor is further configured to send, in response to determining that the window is obscured or damaged, a notification that the window needs to be cleaned or repaired.

12. The lidar system of claim 1, wherein the fiber-optic splitter is configured to split off less than or equal to 10% of an energy of the ranging pulse of light to produce the trigger pulse.

13. The lidar system of claim 1, wherein the trigger pulse of light is split off from the ranging pulse of light prior to the ranging pulse of light being directed into the field of regard of the lidar system.

14. The lidar system of claim 1, further comprising a scanner configured to receive the ranging pulse emitted by the light source after the trigger pulse has been split off by the fiber-optic splitter and direct the ranging pulse into the field of regard of the lidar system.

15. The lidar system of claim 1, further comprising a mirror configured to:

receive the trigger pulse from the fiber-optic splitter; and

reflect the trigger pulse to direct the trigger pulse to the receiver.

16. The lidar system of claim 1, further comprising an optical diffuser configured to:

receive the trigger pulse from the fiber-optic splitter; and

scatter the trigger pulse over an angular range to direct the portion of the trigger pulse to the receiver.

17. The lidar system of claim 16, wherein the optical diffuser is a transmissive diffuser or a reflective diffuser.

18. The lidar system of claim 16, wherein:

the receiver comprises a housing that contains a detector configured to detect the portion of the trigger pulse and the portion of the ranging pulse; and

the optical diffuser is located within or is part of the receiver housing.

19. The lidar system of claim 1, wherein:

the trigger pulse is directed to the receiver via an optical fiber; and

the receiver comprises a housing comprising a feedthrough configured to receive the trigger pulse via the optical fiber.

20. The lidar system of claim 1, wherein the receiver comprises an opaque housing configured to reduce stray light that is incident on a detector of the receiver.

21. The lidar system of claim 1, wherein the receiver comprises a housing with a baffled interior surface configured to reduce stray light that is incident on a detector of the receiver.

22. The lidar system of claim 1, wherein the receiver comprises an avalanche photodiode (APD) configured to detect the portion of the trigger pulse and the portion of the ranging pulse.

23. The lidar system of claim 1, wherein the receiver comprises:

a detector configured to detect the portion of the trigger pulse; and

an avalanche photodiode (APD) configured to detect the portion of the ranging pulse.

24. The lidar system of claim 1, wherein the emitted ranging pulse of light is one of a plurality of pulses of light emitted by the light source, and the lidar system further comprises a scanner configured to scan at least a portion of the emitted pulses of light across the field of regard of the lidar system.

25. A lidar system comprising:

a light source configured to emit a ranging pulse of light that is directed into a field of regard of the lidar system;

a fiber-optic splitter configured to split off a portion of the ranging pulse of light to produce a trigger pulse of light that is directed to a receiver of the lidar system;

an optical-delay fiber configured to temporally delay the ranging pulse of light with respect to the trigger pulse of light, wherein;

the optical delay fiber comprises a length of optical fiber located after the fiber-optic splitter; and

after the trigger pulse of light is split off from the ranging pulse of light, the ranging pulse of light propagates through the length of optical fiber;

the receiver, wherein the receiver is configured to;

detect, at a first time, at least a portion of the trigger pulse of light;

detect, at a second time subsequent to the first time, internally scattered light from the ranging pulse of light scattered from within the lidar system; and

detect, at a third time subsequent to the second time, a portion of the ranging pulse of light scattered by a target located a distance from the lidar system; and

a processor configured to determine the distance from the lidar system to the target based at least in part on the first time and the third time.

26. The lidar system of claim 25, wherein:

the internally scattered light comprises light from the ranging pulse scattered by a window of the lidar system; and

the processor is further configured to determine, based at least in part on the internally scattered light detected by the receiver, that at least a portion of the window is obscured or damaged.

27. The lidar system of claim 25, wherein the light source comprises a direct-emitter laser diode configured to emit the ranging pulse of light.

28. A lidar system comprising:

a light source configured to emit a ranging pulse of light that is directed into a field of regard of the lidar system, wherein the light source comprises a seed laser diode configured to produce a seed pulse of light and a semiconductor optical amplifier configured to amplify the seed pulse of light to produce the ranging pulse of light;

a fiber-optic splitter configured to split off a portion of the ranging pulse of light to produce a trigger pulse of light that is directed to a receiver of the lidar system;

the receiver, wherein the receiver is configured to;

detect, at a first time, at least a portion of the trigger pulse of light; and

detect, at a second time subsequent to the first time, a portion of the ranging pulse of light scattered by a target located a distance from the lidar system; and

a processor configured to determine the distance from the lidar system to the target based at least in part on the first time and the second time.

29. The lidar system of claim 28, further comprising an optical-delay fiber configured to temporally delay the ranging pulse with respect to the trigger pulse, wherein:

the optical-delay fiber comprises a length of optical fiber located after the fiber-optic splitter; and

after the trigger pulse is split off from the ranging pulse, the ranging pulse propagates through the length of optical fiber.

30. The lidar system of claim 28, wherein:

the receiver is further configured to detect, after the first time and prior to the second time, internally scattered light from the ranging pulse scattered by a window of the lidar system; and

the processor is further configured to determine, based at least in part on the internally scattered light detected by the receiver, that at least a portion of the window is obscured or damaged.