Dynamically allocating detection elements to pixels in LIDAR systems

• US 11,500,076 B2
• Filed: 05/14/2019
• Issued: 11/15/2022
• Est. Priority Date: 11/16/2016
• Status: Active Grant

• Current Assignee: Innoviz Technologies, Ltd.
• Original Assignee: Innoviz Technologies, Ltd.
• Inventors: Keilaf, Omer David, Buskila, Oren, Eshel, Ronen, Antman, Yair, Steinberg, Amit, Elooz, David, Vlaiko, Julian, Zohar, Guy, Levy, Shahar
• Primary Examiner(s): Xiao, Yuqing
• Assistant Examiner(s): Naser, Sanjida
• Application Number:
  US16/411,582
• Publication Number:
  US 20190271767A1
• Time in Patent Office: 1,281 Days
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4863 Detector arrays, e.g. charge-transfer gates
• CPC Class Codes: G01S 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: G01S 7/489 Gain of receiver varied automatically during pulse-recurrence period

Abstract

The present disclosure provides systems and methods that use LIDAR technology. In one implementation, a LIDAR system includes at least one processor configured to: control activation of at least one light source for illuminating a field of view; receive from at least one sensor a reflection signal associated with an object in the field of view, a time lapse between light leaving the at least one light source and reflection impinging on the least one sensor constituting a time of flight; and alter an amplification parameter associated with the at least one sensor during the time of flight.

Claims

1. A LIDAR system, comprising:

at least one processor configured to;

control activation of at least one light source for illuminating a field of view;

receive, during a scanning cycle of the field of view and from at least one sensor, a reflection signal associated with an object in the field of view and a first pixel in the scanning cycle, wherein a time lapse between light leaving the at least one light source and corresponding reflected light returning from the object and impinging on the least one sensor to cause generation of the reflection signal constitutes a first time of flight;

determine an amplification parameter associated with the at least one sensor based on the reflection signal associated with the first pixel; and

alter the amplification parameter associated with the at least one sensor during a second time of flight associated with a second pixel in the scanning cycle, wherein the second pixel is different from the first pixel.

2. The LIDAR system of claim 1, wherein the amplification parameter includes at least one of:

detector gain, amplifier gain, sensitivity, and attenuation.

3. The LIDAR system of claim 1, wherein the at least one processor is further configured to increase amplification of the at least one sensor as a function of the second time of flight.

4. The LIDAR system of claim 1, wherein the at least one sensor includes a plurality of detection elements and wherein the at least one processor is further configured to alter at least one amplification parameter associated with a subset of the plurality of detection elements.

5. The LIDAR system of claim 4, wherein the at least one processor is further configured to dynamically alter the at least one amplification parameter associated with the subset of the plurality of detection elements, such that at instantaneous times, at least one of the plurality of detection elements is not operative.

6. The LIDAR system of claim 4, wherein the at least one processor is further configured to control at least one light deflector to deflect light from the at least one light source for scanning the field of view, and to apply different amplification schemes for differing detection elements during a single scanning cycle.

7. The LIDAR system of claim 1, wherein, relative to a value of an amplification parameter associated with a first portion of the second time of flight, the at least one processor is configured to increase the value of the amplification parameter associated with a second portion of the second time of flight, subsequent to the first portion of the second time of flight.

8. The LIDAR system of claim 7, wherein during the first portion of the second time of flight the amplification parameter substantially equals to zero.

9. The LIDAR system of claim 8, wherein the first portion of the second time of flight starts after the light leaving the at least one light source has traveled at least 25 meters from the at least one light source.

10. The LIDAR system of claim 7, wherein the second portion of the second time of flight starts substantially when the first portion of the second time of flight ends.

11. The LIDAR system of claim 1, wherein the at least one processor is further configured to progressively increase the amplification parameter over a period of time of at least 300 consecutive nanoseconds.

12. The LIDAR system of claim 1, wherein the amplification parameter includes an amplification level, and the at least one processor is further configured to increase the amplification level by at least 1 dB over at least 200 consecutive nanoseconds.

13. The LIDAR system of claim 1, wherein the amplification parameter includes an amplification level, and the at least one processor is further configured to increase the amplification level by at least 4 dB over at least 300 consecutive nanoseconds.

14. The LIDAR system of claim 1, wherein the at least one sensor includes a plurality of detection elements, and wherein the at least one processor is further configured to:

control at least one light deflector to deflect light from the at least one light source for scanning the field of view, wherein a scanning pattern of the field of view includes at least two scanning directions; and

dynamically alter an amplification parameter associated with at least some of the plurality of detection elements based on a current scanning direction.

15. The LIDAR system of claim 1, wherein the at least one sensor includes a plurality of detection elements, and wherein the processor is further configured to assign different groups of detection elements to different pixels.

16. The LIDAR system of claim 1, wherein the at least one processor is further configured to determine a value for the amplification parameter based on reflection signals associated with a previous scanning cycle.

17. The LIDAR system according to claim 1, wherein the at least one sensor includes a plurality of detection elements, and wherein the at least one processor is further configured to:

receive from the at least one sensor reflections signals indicative of light reflected from objects in the field of view;

dynamically allocate a first subset of the plurality of detection elements to constitute the first pixel;

dynamically allocate a second subset of the plurality of detection elements to constitute the second pixel;

following processing of the first pixel and the second pixel, dynamically allocate a third subset of the plurality of detection elements to constitute a third pixel, the third subset overlapping with at least one of the first subset and the second subset, and differing from each of the first subset and the second subset; and

following processing of the first pixel and the second pixel, dynamically allocate a fourth subset of the plurality of detection elements to constitute a fourth pixel, the fourth subset overlapping with at least one of the first subset, the second subset, and the third subset, and differing from each of the first subset, the second subset, and the third subset.

18. The LIDAR system of claim 1, wherein the at least one processor if further configured to:

access an optical budget stored in memory, the optical budget being associated with the at least one light source and defining an amount of light that is emittable in a predetermined time period by the at least one light source;

receive information indicative of a platform condition for the LIDAR system;

based on the received information, dynamically apportion the optical budget to the field of view of the LIDAR system based on at least two of;

scanning rates, scanning patterns, scanning angles, spatial light distribution, and temporal light distribution; and

output signals for controlling the at least one light source in a manner enabling light flux to vary over scanning of the field of view in accordance with the dynamically apportioned optical budget.

19. A LIDAR method, comprising:

controlling activation of at least one light source for illuminating a field of view;

receiving, during a scanning cycle of the field of view and from at least one sensor, a reflection signal associated with an object in the field of view and a first pixel in the scanning cycle, wherein a time lapse between light leaving the at least one light source and corresponding reflected light returning from the object and impinging on the least one sensor to cause generation of the reflection signal constitutes a first time of flight;

determining an amplification parameter associated with the at least one sensor based on the reflection signal associated with the first pixel; and

altering the amplification parameter associated with the at least one sensor during a second time of flight associated with a second pixel in the scanning cycle, wherein the second pixel is different from the first pixel.

20. The method of claim 19, wherein altering the amplification parameter includes increasing amplification as a function of the second time of flight.

21. The method of claim 19, wherein the at least one sensor includes a plurality of detection elements and wherein altering the amplification parameter includes altering at least one amplification parameter associated with at least one detection element.

22. The method of claim 21, further comprising:

obtaining identification of at least one defective detection element; and

dynamically altering at least one amplification parameter associated with a subset of the plurality of detection elements, such that a gain of the at least one defective detection element is substantially lower than a gain of other detection elements.

23. The method of claim 19, further comprising:

controlling at least one light deflector to deflect light from the at least one light source for scanning the field of view; and

applying multiple amplification schemes for differing detection elements in a single scanning cycle.

24. The method of claim 23, wherein an amplification scheme includes a combination of at least two of:

detector gain, amplifier gain, sensitivity, and attenuation.

25. A vehicle, comprising:

a body;

at least one processor located within the body and configured to;

control activation of at least one light source for illuminating a field of view ahead of the body;

receive, during a scanning cycle of the field of view and from a least one sensor, a reflection signal associated with an object in the field of view and a first pixel in the scanning cycle, wherein a time lapse between light leaving the at least one light source and corresponding reflected light returning from the object and impinging on the least one sensor to cause generation of the reflection signal constitutes a first time of flight;

determine an amplification parameter associated with the at least one sensor based on the reflection signal associated with the first pixel; and

alter the amplification parameter associated with the at least one sensor during a second time of flight associated with a second pixel in the scanning cycle, wherein the second pixel is different from the first pixel.

26. The vehicle of claim 25, wherein the at least one processor is further configured to increase amplification of the at least one sensor as a function of the second time of flight.

27. The vehicle of claim 25, wherein the at least one processor is further configured to determine a value for the amplification parameter based location information of the vehicle.

28. The vehicle of claim 25, wherein the at least one processor is part of a LIDAR system and is configured to use the reflection signal to determine a distance between the vehicle and the object in the field of view.