Cross-talk mitigation using wavelength switching

• US 9,989,629 B1
• Filed: 10/06/2017
• Issued: 06/05/2018
• Est. Priority Date: 03/30/2017
• Status: Active Grant

• Current Assignee: Luminar Technologies, Inc.
• Original Assignee: Luminar Technologies, Inc.
• Inventors: LaChapelle, Joseph G.
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US15/727,315
• Time in Patent Office: 242 Days
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• 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: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93

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.

Claims

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.

2. The lidar system of claim 1, wherein the lighting module includes:

a light source, and

a filter electronically tunable to one of the plurality of wavelength values.

3. The lidar system of claim 1, wherein the lighting module comprises a plurality of laser diodes corresponding, respectively, to the plurality of wavelength values, wherein each laser diode is configured to produce light at a particular wavelength of the plurality of wavelength values.

4. The lidar system of claim 1, wherein the receiver module includes:

a wavelength filter adjustable to receive the wavelength selected by the lighting module.

5. The lidar system of claim 4, wherein the wavelength filter is electronically tunable to the wavelength selected by the lighting module.

6. The lidar system of claim 4, wherein the wavelength filter includes one or more passive filters mechanically adjusted to the wavelength selected by the lighting module.

7. The lidar system of claim 1, further comprising a controller to control wavelength selection at the lighting module and the receiver.

8. The lidar system of claim 7, wherein the controller is configured to select a new wavelength according to a predefined schedule.

9. The lidar system of claim 7, wherein the controller is configured to select a new wavelength in response to detecting a cross-talk event.

10. A method for scanning a field of regard of a lidar system, the method comprising:

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.

11. The method of claim 10, wherein the second wavelength is selected from among the plurality of wavelength values randomly.

12. The method of claim 10, wherein the second wavelength is selected from among the plurality of wavelength values in accordance with an order assigned to wavelength values in the plurality of wavelength values.

13. The method of claim 10, wherein emitting light at the selected first wavelength includes using a light source and a filter electronically tuned to the first wavelength, and emitting light at the selected second wavelength includes using the light source and the filter electronically tuned to the second wavelength.

14. The method of claim 10, wherein emitting light at the selected first wavelength and at the selected second wavelength includes using a first laser diode configured to produce light at the first wavelength and a second laser diode configured to produce light at the second wavelength, respectively.

15. The method of claim 10, wherein determining whether the received light signal includes the light emitted by the lighting module includes electronically tuning a wavelength filter to receive the wavelength selected by the lighting module.

16. The method of claim 10, wherein determining whether the received light signal includes the light emitted by the lighting module includes mechanically adjusting a wavelength filter to receive the wavelength selected by the lighting module.

17. An autonomous vehicle comprising:

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.

18. A method for scanning a field of regard of a lidar system, the method comprising:

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.

19. The method of claim 18, wherein the second wavelength is selected from among the plurality of wavelength values randomly.

20. The method of claim 18, wherein the second wavelength is selected from among the plurality of wavelength values in accordance with an order assigned to wavelength values in the plurality of wavelength values.

21. The method of claim 18, wherein emitting light at the selected first wavelength includes using a light source and a filter electronically tuned to the first wavelength, and emitting light at the selected second wavelength includes using the light source and the filter electronically tuned to the second wavelength.

22. A method for scanning a field of regard of a lidar system, the method comprising:

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.

23. The method of claim 22, wherein detecting the triggering event includes detecting an expiration of a periodic timer.

24. The method of claim 22, wherein detecting the triggering event includes detecting a cross-talk event.

25. The method of claim 22, wherein detecting the triggering event includes detecting that a scan of the entire field of regard of the lidar system, corresponding to one frame of pixels, has been completed.

26. The method of claim 22, wherein detecting the triggering event includes detecting that a scan of one horizontal scan line has been completed.