A lidar system including a scanning illumination field

Abstract

The lidar system includes an array of photodetectors. The system includes beam steering means and an optical transmitter that aligns with the beam steering means. The beam steering means is designed to direct light from the optical transmitter towards an illumination field that is positioned to be detected by a section of the array of photodetectors. The section is smaller than the array. The system includes a computer having a processor and a memory that stores instructions executable by the processor to adjust the alignment of the beam steering means so as to move the illumination field relative to the array of photodetectors.

Description

Background Art

[0001] Solid-state lidar systems include a photodetector or an array of photodetectors that are substantially fixed in place relative to a carrier (e.g., a vehicle). Light is emitted into the field of view of the photodetector, and the photodetector detects the light reflected by an object in the field of view. For example, a flash lidar system emits light pulses (e.g., laser pulses) into substantially the entire field of view. The time of flight of the reflected photons detected by the photodetector is used to determine the distance to the object that reflected the light.

[0002] For example, a solid-state lidar system can be mounted on a vehicle to detect objects in the vehicle's surrounding environment and to detect the distances to those objects for environmental mapping. The detection of the reflected light is used to generate a 3D environmental map of the surrounding environment. The output of the solid-state lidar system can be used, for example, to autonomously or semi-autonomously control the operation of the vehicle, such as propulsion, braking, steering, etc. Specifically, the system can be a component of or communicate with an advanced driver assistance system (ADAS) of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Figure 1 is a perspective view of a vehicle having a lidar system that is forward-aligned with an object in the field of view.

[0004] Figure 2 is Figure 1 a perspective view of the vehicle of, showing the field of view and an overlapping illumination field at one location.

[0005] Figure 3 is a top view of the vehicle identifying the field of view.

[0006] Figure 4 is a perspective view of a vehicle having two lidar systems, each of which is forward-aligned with an object in the field of view.

[0007] Figure 5 is Figure 4 a perspective view of the vehicle of, showing the field of view and two overlapping illumination fields at one location.

[0008] Figure 6 is a top view of the vehicle identifying the field of view.

[0009] Figure 7 is a perspective view of one of the lidar systems.

[0010] Figure 8 is a perspective view of another embodiment of the lidar system.

[0011] Figure 9 is a perspective view of the light sensor.

[0012] Figure 9A isFigure 9 An enlarged view showing the photodetector array.

[0013] Figure 10 Is a schematic diagram of a photodetector array, where each section of the array corresponds to a discrete position of the illumination field.

[0014] Figure 11A Is a side view of the vehicle, identifying the field of view and the illumination field in the first discrete position.

[0015] Figure 11B Is a schematic diagram of a photodetector array, where one section of the array is identified as corresponding to Figure 11A The first discrete position of the illumination field in

[0016] Figure 12A Is a side view of the vehicle, identifying the field of view and the illumination field in the second discrete position.

[0017] Figure 12B Is a schematic diagram of a photodetector array, where one section of the array is identified as corresponding to Figure 12A The second discrete position of the illumination field in

[0018] Figure 13A Is a side view of the vehicle, identifying the field of view and the illumination field in the Nth discrete position.

[0019] Figure 13B Is a schematic diagram of a photodetector array, where one section of the array is identified as corresponding to Figure 13A The Nth discrete position of the illumination field in

[0020] Figure 14 Is a schematic diagram of a lidar system.

[0021] Figure 15 Is a method performed by the lidar system. Detailed Description

[0022] Referring to the accompanying drawings, where like reference numerals indicate like parts in several views, a lidar system 10 (hereinafter referred to as "system 10") includes an array 12 of photodetectors 14. The system 10 includes a beam steering device 16 and an optical transmitter 18 that aligns the beam steering device 16. The beam steering device 16 is designed to direct light from the optical transmitter 18 into an illumination field (hereinafter referred to as "FOI"), which is positioned to be detected by a section 20 of the array 12 of photodetectors 14. Each section 20 is smaller than the array 12. The system 10 includes a computer 22 having a processor 24 and a memory 26 that stores instructions executable by the processor 24 to adjust the alignment of the beam steering device 16 to move the illumination field relative to the array 12 of photodetectors 14.

[0023] Accordingly, the beam steering device 16 scans the FOV of the array 12 of photodetectors 14 in the FOI to illuminate discrete segments 20 (i.e., the segments 20 are separately distinct from each other). These discrete segments 20 can be combined into a single frame that corresponds to the entire FOV of the array 12 of photodetectors 14. This results in increased design flexibility and efficiency of the light emitter 18. For example, the light emitter 18 uses less power per flash, and such a light emitter is easier to manufacture and power. By aligning the light with different segments 20 of the array 12 of photodetectors 14 using the beam steering device 16, a larger FOV can be illuminated with a smaller light emitter 18.

[0024] Reference Figures 1 to 6 , the lidar system 10 emits light and detects the emitted light reflected by an object (e.g., a pedestrian, a street sign, a vehicle, etc.). Specifically, the system 10 includes an optical transmission system 28 and an optical reception system 30. The optical transmission system 28 includes a light emitter 18 that emits light for illuminating the object for detection. The optical transmission system 28 includes an exit window 32, and between the light emitter 18 and the exit window 32, it includes a beam steering device 16 and transmission optics, namely focusing optics. The computer 22 communicates with the light emitter 18 to control the light emission from the light emitter 18, and the computer 22 communicates with the beam steering device 16 to align the light emission from the lidar system 10. The transmission optics shapes the light from the light emitter 18 and guides the light through the exit window 32 to the illumination field FOV.

[0025] The optical reception system 30 has a field of view (hereinafter referred to as "FOV") that overlaps the illumination field FOV and receives the light reflected by the object in the FOV. The optical reception system 30 may include reception optics and a light sensor 11 having an array 12 of photodetectors 14. The optical reception system 30 may include a reception window 34, and the reception optics may be between the reception window 34 and the array 12 of photodetectors 14. The reception optics can be of any suitable type and size.

[0026] The lidar system 10 is at Figures 1 to 6is shown mounted on vehicle 36. In such an example, the lidar system 10 is operated to detect objects in the environment around vehicle 36 and to detect the distance to those objects, i.e., range, for environmental mapping. The output of the lidar system 10 can be used, for example, to autonomously or semi-autonomously control the operation of vehicle 36, such as propulsion, braking, steering, etc. Specifically, the lidar system 10 can be part of or communicate with an advanced driver assistance system (ADAS) of vehicle 36. The lidar system 10 can be mounted at any suitable location on vehicle 36 and oriented in any suitable direction. As an example, the lidar system 10 is shown at the front of vehicle 36 and pointing forward. Vehicle 36 can have more than one lidar system 10, and / or vehicle 36 can include other object detection systems, including other lidar systems 10. Only as an example, vehicle 36 is in Figure 1 is shown as including a lidar system 10 oriented in the forward direction. As another example, vehicle 36 is in Figure 4 is shown as including two lidar systems 10, each lidar system 10 being oriented in the forward direction. The vehicle 36 shown in the figure is a sedan. As other examples, vehicle 36 can be any suitable manned or unmanned type, including airplanes, satellites, drones, boats, etc.

[0027] The lidar system 10 can be a solid-state lidar system. In such an example, the lidar system 10 is stationary relative to vehicle 36. For example, the lidar system 10 can include a housing 38 ( Figure 7 and Figure 8 shown and described below), the housing 38 being fixed relative to vehicle 36, i.e., not moving relative to the component of vehicle 36 to which the housing 38 is attached, and one or more chips of the lidar system 10 (such as including a silicon substrate) are supported in the housing 38.

[0028] As a solid-state lidar system, the lidar system 10 can be a flash lidar system. In such an example, the lidar system 10 emits pulses of light (i.e., flashes) into an illumination field of interest (FOI). More specifically, the lidar system 10 can be a 3D flash lidar system that generates a 3D environmental map of the surrounding environment. In a flash lidar system, the FOI illuminates a field of view (FOV) that includes more than one photodetector 12, such as a 2D array 12, even if the illuminated 2D array 12 is not the entire 2D array 12 of the light sensor 11.

[0029] Refer to Figures 7 to 8, the lidar system 10 can be a unit, i.e., an optical transmission system 28 and an optical reception system 30 enclosed by a housing 38. The housing 38 can include mechanical attachment features for attaching the housing 38 to the vehicle 36 and electrical connections that connect to and communicate with the electrical system 10 of the vehicle 36 (e.g., components of an ADAS). The emission window 32 and the reception window 34 extend through the housing 38. The emission window 32 and the reception window 34 each include an opening extending through the housing 38 and may include a lens or other optical device in the opening.

[0030] For example, the housing 38 can be plastic or metal and can protect other components of the lidar system 10 from moisture, environmental precipitation, dust, etc. In an alternative where the lidar system 10 is a unit, components of the lidar system 10, such as the optical transmission system 28 and the optical reception system 30, can be separated and disposed at different locations on the vehicle 36.

[0031] As described above, the optical transmission system 28 includes an optical transmitter 18, beam steering means 16, and transmission optics. The optical transmitter 18 is aligned with the transmission optics. The transmission optics direct light, e.g., direct light from the optical transmitter 18 to the emission window 32 within the housing 38 and shape the light. The transmission optics can include optical elements 40, collimating mirrors, etc.

[0032] The optical element 40 shapes the light emitted from the optical transmitter 18. Specifically, as further described below, the optical element 40 can be designed to shape the light from the optical transmitter 18 into a horizontally elongated pattern, i.e., such that the field of illumination (FOI) is horizontally elongated. The optical transmitter 18 is aligned with the optical element 40, i.e., substantially all of the light emitted from the optical transmitter 18 reaches the optical element 40. As an example of shaping the light, the optical element 40 diffuses the light, i.e., spreads the light over a larger path and reduces the concentrated intensity of the light. In other words, the optical element 40 is designed to diffuse the light from the optical transmitter 18. As another example, the optical element 40 scatters the light (e.g., a hologram). "Unshaped light" is used herein to refer to light that has not been shaped by the optical element 40 (e.g., not diffused or scattered), e.g., due to damage to the optical element 40. The light from the optical transmitter 18 can propagate directly from the optical transmitter 18 to the optical element 40 or can interact with additional components between the optical transmitter 18 and the optical element 40. The shaped light from the optical element 40 can propagate directly to the emission window 32 or can interact with additional components between the optical element 40 and the emission window 32 before leaving the emission window 32 and entering the field of illumination (FOI).

[0033] The optical element 40 guides the shaped light to the exit window 32 for illuminating an illumination field FOI external to the lidar system 10. In other words, the optical element 40 is designed to guide the shaped light to the exit window 32, i.e., its size, shape, position are determined and / or it has optical properties to guide the shaped light to the exit window 32.

[0034] The optical element 40 can be any suitable type that shapes and guides the light from the light emitter 18 towards the exit window 32. For example, the optical element 40 can be or include a diffractive optical element, a diffractive diffuser, a refractive diffuser, a computer-generated hologram, a blazed grating, etc. The optical element 40 can be reflective or transmissive.

[0035] The light emitter 18 emits light into the illumination field FOI to be detected by the light receiving system 30 when the light is reflected by an object in the field of view FOV. The light emitter 18 can be, for example, a laser. The light emitter 18 can be, for example, a semiconductor laser. In one example, the light emitter 18 is a vertical cavity surface emitting laser (VCSEL). As another example, the light emitter 18 can be a diode-pumped solid-state laser (DPSSL). As another example, the light emitter 18 can be an edge-emitting laser diode. The light emitter 18 can be designed to emit pulsed flashes, such as pulsed lasers. Specifically, the light emitter 18, such as a VCSEL or a DPSSL or an edge emitter, is designed to emit pulsed lasers. The light emitted by the light emitter 18 can be, for example, infrared light. Alternatively, the light emitted by the light emitter 18 can be any suitable wavelength. The lidar system 10 can include any suitable number of light emitters 18 in the housing 38, i.e., one or more. In examples including more than one light emitter 18, the light emitters 18 can be the same or different.

[0036] As described above, the light emitter 18 is aligned with the optical element 40. Specifically, the light emitter 18 is aligned with the light shaping surface of the optical element 40. The light emitter 18 can be directly aligned with the optical element 40, or can be indirectly aligned with the optical element 40 through intermediate components such as reflectors / deflectors, diffusers, optical devices, etc. The light emitter 18 is directly or indirectly aligned with the beam manipulation device 16 through intermediate components.

[0037] The light emitter 18 can be stationary relative to the housing 38, as Figure 7 and Figure 8 shown. In other words, during operation of the system 10, for example, during light emission, the light emitter 18 does not move relative to the housing 38. The light emitter 18 can be mounted to the housing 38 in any suitable manner such that the light emitter 18 and the housing 38 move together as a unit.

[0038] The lidar system 10 includes one or more cooling devices for cooling the light emitter 18. For example, the system 10 may include a heat sink on the housing 38 adjacent to the light emitter 18. The heat sink may include, for example, a wall adjacent to the light emitter 18 and fins extending away from the wall and outside the housing 38 for dissipating heat from the light emitter 18. For example, the wall and / or the fins may be made of a material having a relatively high thermal conductivity. The light emitter 18 may be adjacent to the wall, for example, to facilitate heat transfer. In addition to or as an alternative to the heat sink, the system 10 may include additional cooling devices, such as a thermoelectric cooler (TEC).

[0039] The light transmission system 28 is designed to emit light in a horizontally elongated pattern. In other words, the field of illumination (FOI) is horizontally elongated. Referring to Figures 1 to 6 , the FOI overlaps the entire width of the field of view (FOV) in the horizontal direction. In other words, in the horizontal direction, the FOI is as wide as or wider than the FOV. In the vertical direction, the FOI is smaller than the FOV. In other words, the FOI is positioned to be detected by a section 20 (i.e., less than the entire array) of the array 12 of the photodetectors 14. As an example, the height of the FOI in the vertical direction may be 1 / 6 to 1 / 12 of the height of the FOV in the vertical direction, i.e., the FOI is positioned to be detected by 1 / 6 to 1 / 12 of the array 12 of the photodetectors 14. "Positioned to be detected" means that if an object is in the FOI, the object reflects light back to the section 20 of the array 12 of the photodetectors 14. As described below, the beam steering device 16 vertically moves the FOI to various discrete positions and emits light at each discrete position. The horizontal and vertical directions used herein are with respect to gravity.

[0040] As an example of the light transmission system 28 being designed to emit light such that the FOI is horizontally elongated, the transmission optics (e.g., the optical element 40 and / or the beam steering device 16) are designed to shape the light from the light emitter 18 in a horizontally elongated pattern. As an example, the optical element 40 may be designed (i.e., sized, shaped, and having optical properties) to shape the light from the light emitter 18 such that the light exiting the exit window 32 is in a horizontally elongated pattern. In addition to or as an alternative to the design of the optical element 40, the beam steering device 16 may be designed to direct the light from the light emitter 18 such that the light exiting the exit window 32 is in a horizontally elongated pattern.

[0041] The beam steering device 16 is designed to align the light from the light emitter 18 to the FOI that is positioned to be detected by the section 20 of the array 12 of the photodetector 14. In other words, as described above, the FOI is smaller than the FOV in the vertical direction, and the beam steering device 16 aligns the FOI into the FOV such that the FOI is positioned to be detected by the section 20 of the array 12 of the photodetector 14, that is, to detect the light reflected by an object in the FOV. Figure 10 , 11B , 12B and 13B schematically show the alignment of the FOI section 20 of the array 12 of the photodetector 14, that is, if an object is in the FOI, the light reflected by the object is detected by the section 20.

[0042] The beam steering device 16 is designed to vertically move the FOI to discrete positions and emit light at each discrete position, as Figure 11A , 12A and 13A show. The so-called "discrete" of the discrete positions lies in that these positions are separately apart from each other. The discrete positions may overlap with adjacent discrete positions. The discrete positions can be stop positions or time positions, that is, positions at different times. In other words, as an example, the beam steering device 16 can stop the vertical scanning of the FOI at each discrete vertical position and emit light at each discrete vertical position. As another example, the beam steering device 16 can continuously scan (i.e., without stopping) the FOI vertically, and each discrete position is a different position of the scanning at different times. In the figure, the discrete positions are distinguished by subscripts.

[0043] The beam steering device 16 scans through a sequence of discrete positions. For example, as described above, the sequence of positions can be a sequence of stop positions or a time sequence during continuous scanning. Each discrete position in the sequence may be adjacent to or overlap with the previous discrete position and the next discrete position in the sequence. The light emitter 18 emits a flash of light at each discrete vertical position, that is, no light is emitted when moving between discrete vertical positions. The so-called "discrete" of the discrete vertical positions lies in that these vertical positions are separately apart, that is, they are different positions. However, the FOIs of adjacent discrete vertical positions may overlap, as Figure 10 shown. The discrete positions together cover the entire FOV such that the scenes detected by the array 12 of the photodetector 14 at each discrete position can be combined into a frame including the light detected in the entire FOV. The horizontal and vertical used herein are with respect to gravity.

[0044] The beam steering device 16 is designed to adjust the alignment of the beam steering device 16 to move the FOI relative to the array 12 of the photodetector 14. For example, when the beam steering device 16 is aligned to the first discrete position, as Figure 11AAs shown, the FOI aligns with the first section 20 of the array 12 of the photodetectors 14, as Figure 11B schematically shown. In other words, if light is reflected by an object in the FOI at a first discrete position, the reflected light is detected by the first section 20 of the array 12 of the photodetectors 14. Similarly, when the beam steering device 16 aligns with a second discrete position, as Figure 12B shown, the FOI aligns with the second section 20 of the array 12 of the photodetectors 14, as Figure 12A schematically shown. Each photodetector 14 in the array 12 of the photodetectors 14 is illuminated at least once in the combination of all discrete positions of the FOI. The scanning of the discrete positions has a range. The range can be from 5 to 6 degrees. In an example where the scan is 5.5 degrees and the beam steering device 16 moves the alignment of the FOI to 10 discrete positions, the beam steering device 16 moves the alignment of the FOI by 0.55 degrees between each discrete position. In Figures 10 to 13B it, different positions of the FOI are identified with subscripts.

[0045] The beam steering device 16 may include a micromirror array 12. For example, the beam steering device 16 may be a microelectromechanical system (MEMS) mirror array. As an example, the beam steering device 16 may be a digital micromirror device (DMD), which includes a pixel mirror array capable of tilting to deflect light. As another example, the beam steering device 16 may include a mirror on a gimbal, such as tilting the gimbal by applying a voltage. As another example, the beam steering device 16 may be a liquid crystal solid-state device including a pixel array. In such an example, the beam steering device 16 is designed to vertically move the FOI to discrete positions by adjusting the micromirror array or the pixel array. In an example including a mirror, the alignment of the mirror can also be controlled to at least partially shape the light from the light emitter 18 into a horizontally elongated pattern. In an example including pixels, the shape of the light from the light emitter 18 can be at least partially shaped by aligning the pixels and / or turning on some pixels and turning off some pixels. As another example, the beam steering device 16 may be a spatial light modulator or a metamaterial having a pixel array or a continuous medium, or may be a mirror placed within a set of voice coil techniques for manipulating the mirror.

[0046] As described above, the light receiving system 30 includes a light sensor 11, and the light sensor 11 includes an array 12 of photodetectors 14, that is, a photodetector array. The light sensor 11 includes a chip, and the array 12 of photodetectors 14 is on the chip. The chip can be silicon (Si), indium gallium arsenide (InGaAs), germanium (Ge), etc., as is known. The chip and the photodetectors 14 are in Figure 9Ais schematically shown. The array 12 is two-dimensional. Specifically, the array 12 of photodetectors 14 includes a plurality of photodetectors 14 arranged in columns and rows. Each photodetector 14 is photosensitive. Specifically, each photodetector 14 detects photons through the optical excitation of electric charge carriers. The output signal of the photodetector 14 indicates the detection of light and can be proportional to the amount of detected light. The output signals of each photodetector 14 are collected to generate the scene detected by the photodetectors 14. The photodetectors 14 can be of any suitable type, such as a photodiode (i.e., a semiconductor device having a p-n junction or a p-i-n junction), including an avalanche photodiode, a metal-semiconductor-metal photodetector 14, a phototransistor, a photoconductive detector, a phototube, a photomultiplier, etc. As an example, the photodetectors 14 can each be a silicon photomultiplier (SiPM). As another example, the photodetectors 14 can each be a PIN diode. Each photodetector 14 can also be referred to as a pixel.

[0047] In some examples, each photodetector 14 of the array 12 of photodetectors 14 remains operative at all discrete positions of the FOV. In such examples, if light is detected by a photodetector 14 outside the section 20 of the array 12 of photodetectors 14 that is aligned with the FOV, such detection may be an indication that the lidar system 10 is damaged or that light from a source different from the light emitter 18 has been detected. In such a case, the lidar system 10 can output a fault indication in response to such detection, and / or can discard data such that the data is not used by the ADAS. In other examples, the array 12 of photodetectors 14 can be operated such that only the section 20 of the array 12 that is aligned with the FOV is operative to increase the lifespan of the array 12 of photodetectors 14 and / or reduce the amount of memory and the amount of output bandwidth to the central processing unit.

[0048] In some examples, as Figures 4 to 6 in the example of, the light receiving system 30 can include more than one array 12 of photodetectors 14, such as more than one light sensor 11, where each light sensor 11 has its own array 12 of photodetectors 14. In such examples, the light transmission system 28 can illuminate the FOV of each array 12 of photodetectors 14. Specifically, more than one array 12 of photodetectors 14 can be supported in the housing 38, and a light transmission system 28 also supported in the housing 38 illuminates the FOV of each array 12 of photodetectors 14. In Figures 4 to 6 the example shown, the light receiving system 30 includes two arrays 12 of photodetectors 14, namely a first array and a second array. The first array and the second array are aligned in different directions, i.e., the FOVs are not the same. As shown, the FOVs may overlap. As described above, Figures 4 to 6The example in FIG. 1 has two laser radar systems 10, and each laser radar system includes an array 12 of two photodetectors 14. One of the light emitters emits a FOI A , the corresponding array 12 has a field of view FOV A1 and FOV A2 Similarly, another light transmitter transmits FOI B , the corresponding array 12 has a field of view FOV B1 and FOV B2 .

[0049] In some examples, such as Figure 8 As shown in the example of FIG, the light receiving system 30 can be adjustably aligned to accommodate changes in the ride height and / or angle of the vehicle 36, such as caused by changes in the weight, position and / or age of the occupants, changes in the weight and / or position of the cargo, changes in the active suspension system of the vehicle 36, changes in the active ride control system of the vehicle 36, etc. Figure 8 In the example shown, the laser radar system 10 may include a housing 42 rotatably supported by the housing 38. The housing 42 supports components of the optical receiving system 30, and the housing 42 may be rotated relative to the housing 38, for example, by using a motor (e.g., Figure 14 ) to vertically adjust the alignment of the FOV. In such an example, when the FOV is adjusted vertically, the beam steering device 16 can move the FOI accordingly, that is, each discrete position can be adjusted by the same adjustment.

[0050] The computer 22 may be a microprocessor-based controller or a field programmable gate array (FPGA), or a combination of the two, implemented by circuits, chips, and / or other electronic components. In other words, the computer 22 is a physical (i.e., structural) component of the system 10. Figure 14 The computer 22 includes a processor 24, a memory 26, etc. The memory 26 of the computer 22 may store instructions executable by the processor 24, i.e., processor executable instructions, and / or may store data. The computer 22 may communicate with a communication network of the vehicle 36 to send and / or receive instructions from the vehicle 36, such as instructions from components of the ADAS. The instructions stored in the memory 26 of the computer 22 include instructions for executing Figure 15 This article (including references Figure 15 The terms “based on,” “responsive to,” and “determine” as used in the methods described in this paper indicate causal relationships, not just temporal relationships.

[0051] refer to Figure 15, the memory 26 stores instructions executable by the processor 24 to adjust the alignment of the beam steering device 16 so as to move the FOI relative to the array 12 of the photodetectors 14. Specifically, the memory 26 stores instructions to adjust the alignment of the beam steering device 16 in a sequence of discrete positions and emit light from the light emitter 18 at each discrete position. As described above, the illumination field is positioned to be detected by different sections 20 of the array 12 of the photodetectors 14 at each discrete position. The corresponding sections 20 of the array 12 of the photodetectors 14 detect the light reflected in the FOI. The memory 26 stores instructions to cycle through the sequence of discrete positions, emit light at each discrete position, and detect the reflected light at each discrete position, i.e., detect the scene. In Figures 10 to 13B , the sequence includes N positions, including a first discrete position, a second discrete position, an N-1 discrete position, and an N discrete position, as shown in the figure. The first discrete position, the second discrete position, the N-1 discrete position, and the N discrete position respectively correspond to Figures 10 to 13B in the FOI1, FOI2, FOI N-1 and FOI N . The memory 26 stores instructions to stitch together the scenes from adjacent sections 20 to form a frame. The frame is used to create a 3D environmental map and / or output the frame to, for example, ADAS.

[0052] Refer to Figure 15 block 11051, the memory 26 stores instructions to adjust the alignment of the beam steering device 16 in the sequence by controlling the operation of the beam steering device 16, as described above. Specifically, in some embodiments, the memory 26 stores instructions to control the position of the micromirror of the beam steering device 16, and in some embodiments, control the pixels of the beam steering device 16. As described above, the memory 26 stores instructions to vertically adjust the alignment of the beam steering device 16. As Figure 15 shown, the memory 26 stores instructions to adjust the alignment of the beam steering device 16 in the sequence, as shown in blocks 11052, 1105 N-1 and 1105 N shown. As described above, when the beam steering device 16 is aligned with the first discrete position, as Figure 11A shown, the FOI is aligned with the first section 20 of the array 12 of the photodetectors 14, as Figure 11B schematically shown. Similarly, when the beam steering device 16 is aligned with the second discrete position, as Figure 12A shown, the FOI is aligned with the second section 20 of the array 12 of the photodetectors 14, as Figure 12B schematically shown.

[0053] Refer to Figure 15 blocks 11101, 11102, 1110 N-1 and 1110 N, the memory 26 stores instructions to emit light from the light emitter 18 by controlling the operation of the light emitter 18, as described above. Specifically, the memory 26 stores instructions to energize the light emitter 18 (e.g., a laser). In other words, the memory 26 stores instructions to first adjust the alignment of the beam steering device 16 and then energize the light emitter 18.

[0054] Reference Figure 15 to blocks 11151, 11152, 1115 N-1 and 1115 N , the memory 26 stores instructions to detect the light reflected in the FOV with the section 20 of the array 12 of the photodetectors 14. "Detecting" light can include detecting intensity and range. The memory 26 can store instructions to operate the array 12 of the photodetectors 14, as described above. As an example, the memory 26 stores instructions to operate the section 20 of the array 12 of the photodetectors 14 at each discrete position of a sequence of discrete positions where the illumination field is positioned to be detected by it, and deactivate the remaining photodetectors 14 of the array 12. In such an example, the memory 26 stores instructions to indicate that the lidar system 10 is damaged or that light from a source different from the light emitter 18 has been detected in response to the photodetector 14 detecting light outside the section 20 of the array 12 of the photodetectors 14 aligned with the FOV. Specifically, the memory 26 can store instructions to output a fault indication and / or discard data in response to such a detection so that the data is not used by the ADAS. In other examples, the memory 26 can store instructions to operate each photodetector 14 in the array 12 of the photodetectors 14.

[0055] Detecting light at each discrete position forms a scene at that position. Referring to block 1120, the memory 26 stores instructions to stitch these scenes together to form a frame. The scenes can be stitched together using any suitable software, method, etc. When stitching, the overlapping portions of adjacent scenes may be merged or discarded to achieve continuity in the frame.

[0056] After the beam steering device 16 is aligned to the final discrete position (i.e., Figures 10 to 13B the N discrete positions in Figure 15 ), the memory 26 stores instructions to repeatedly adjust the beam steering device 16 to another sequence of discrete positions. This next sequence of discrete positions may be the same as the previous one, as Figures 10 to 11B shown. In other words, the memory 26 can store instructions to adjust the beam steering device 16 back to the first discrete position (corresponding to Figures 10 to 11B FOI1 in N ). As another example, the memory 26 can store instructions to reverse the sequence, i.e., adjust the alignment of the beam steering device 16 from the N discrete positions (corresponding to FOV N ) back to the N - 1 discrete positions (corresponding to FOVN-1 ) and back through the previous sequence.

[0057] The present disclosure has been described in an illustrative manner, and it is to be understood that the terminology used is intended to be of a descriptive nature rather than restrictive. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the present disclosure may be practiced in a manner different than specifically described.

Claims

1. A system comprising: An optoelectronic detector array; A beam steering device; An optical transmitter aligned with the beam steering device; The beam steering device is designed to direct light from the optical transmitter into an illumination field positioned to be detected by a section of the optoelectronic detector array, the section being smaller than the array; And A computer having a processor and a memory, the memory storing instructions executable by the processor for: Adjusting the alignment of the beam steering device in a sequence of discrete positions, thereby moving the illumination field relative to the optoelectronic detector array; Emitting light from the optical transmitter at each discrete position, the illumination field being positioned to be detected by a different section of the optoelectronic detector array at each discrete position; And Adjusting the alignment of the beam steering device such that the illumination field is positioned to be detected by each optoelectronic detector at least once in the sequence.

2. The system according to claim 1, wherein The sections are horizontally elongated and the discrete positions in the sequence of discrete positions are vertically arranged.

3. The system according to claim 1, wherein Adjacent sections overlap.

4. The system according to claim 1, wherein, Each section detects a scene of light reflected in the illumination field, and the scenes from adjacent sections are stitched together to form a frame.

5. The system according to claim 1, wherein The memory stores instructions executable by the processor to operate, at each discrete position in the sequence of discrete positions, the section of the optoelectronic detector array by which the illumination field is positioned to be detected, and deactivate the remaining optoelectronic detectors of the array.

6. The system according to claim 1, further comprising a second optoelectronic detector array, the illumination field being positioned to be detected by a section of the second optoelectronic detector array.

7. The system according to claim 1, wherein The beam steering device includes a microelectromechanical mirror and / or a liquid crystal display.

8. A computer having a processor and a memory storing instructions executable by the processor, the instructions for: Generating light with an optical transmitter; Directing the light from the optical transmitter into an illumination field positioned to be detected by a first section of an optoelectronic detector array, the first section being smaller than the array; Detecting, with optoelectronic detectors in the first section of the optoelectronic detector array, light reflected in the illumination field; Adjusting the alignment of the light from the optical transmitter to move the illumination field to position it to be detected by a second section of the optoelectronic detector array, the second section being smaller than the array; Detecting, with optoelectronic detectors in the second section of the optoelectronic detector array, light reflected in the illumination field; Adjusting the alignment of the light from the optical transmitter in a sequence of discrete positions and emitting light from the optical transmitter at each discrete position, the illumination field being positioned to be detected by a different section of the optoelectronic detector array at each discrete position; And Adjusting the alignment of the light from the optical transmitter such that the illumination field is positioned to be detected by each optoelectronic detector at least once in the sequence.

9. The computer according to claim 8, wherein, The memory stores instructions to utilize each section to detect a scene of light reflected in the illumination field and stitch together the scenes from adjacent sections to form a frame.

10. The computer according to claim 8, wherein, The memory stores instructions executable by the processor to align the illumination field to be horizontally elongated and vertically adjust the illumination field.

11. The computer according to claim 8, wherein, The memory stores instructions executable by the processor to overlap the first section and the second section.

12. The computer according to claim 8, wherein, The memory stores instructions to stitch together the scene detected by the first section of the optoelectronic detector array and the scene detected by the second section of the optoelectronic detector array to form a frame.

13. The computer according to claim 8, wherein, The memory stores instructions executable by a processor to operate a first section of a photodetector array and deactivate a second section of the photodetector array when light from an optical emitter is emitted into an illumination field positioned to be detected by the first section of the photodetector array.

14. The computer according to claim 8, wherein, The memory stores instructions executable by a processor to detect light reflected in an illumination field using a first section of a second photodetector array when light from an optical emitter is aligned into the illumination field positioned to be detected by a first section of a first photodetector array.

15. The computer according to claim 8, wherein, The memory stores instructions executable by a processor to identify a fault based on detecting light in a second section of a photodetector array when light is aligned into an illumination field positioned to be detected by a first section of the photodetector array.

16. A method, comprising: generating light with an optical emitter; aligning light from the optical emitter into an illumination field positioned to be detected by a first section of photodetectors of a photodetector array, the first section being less than the array; detecting light reflected in the illumination field with photodetectors in the first section of the photodetector array; adjusting the alignment of the light from the optical emitter to move the illumination field to be positioned to be detected by a second section of the photodetector array, the second section being less than the array; detecting light reflected in the illumination field with photodetectors in the second section of the photodetector array; adjusting the alignment of the light from the optical emitter in a sequence of discrete positions and emitting light from the optical emitter at each discrete position, the illumination field being positioned to be detected by different sections of the photodetector array at each discrete position; and adjusting the alignment of the light from the optical emitter such that the illumination field is positioned to be detected by each photodetector at least once in the sequence.

17. The method of claim 16, further comprising using each section to detect a scene of light reflected in the illumination field and stitching together scenes from adjacent sections to form a frame.

18. The method of claim 16, further comprising aligning the illumination field to be horizontally elongated and vertically adjusting the illumination field.

19. The method of claim 16, further comprising overlapping the first section and the second section.

20. The method of claim 16, further comprising stitching together a scene detected by a first section of a photodetector array and a scene detected by a second section of the photodetector array to form a frame.

21. The method of claim 16, further comprising operating a first section of a photodetector array and deactivating a second section of the photodetector array when light from an optical emitter is emitted into an illumination field positioned to be detected by the first section of the photodetector array.

22. The method of claim 16, further comprising detecting light reflected in the illumination field using a first section of a second photodetector array when light from the optical emitter is aligned into an illumination field positioned to be detected by a first section of photodetectors of a first photodetector array.

23. The method according to claim 16, further comprising identifying a fault based on light being detected in a second section of the photodetector array when light is aligned to an illumination field positioned to be detected by a first section of the photodetector array.

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