Coherent signal combining with multiple outputs for quasi-continuous wave lidar operation

Abstract

The present invention relates to coherent signal combining with multiple outputs for quasi-continuous wave LIDAR operation. A signal processing system for light detection and ranging (LIDAR) operation includes an amplifier and a splitter coupled to the amplifier. The amplifier is configured to receive a plurality of optical signals respectively associated with a plurality of phases and generate a plurality of amplified optical signals using the plurality of optical signals. The splitter is configured to receive the plurality of amplified optical signals and combine the plurality of amplified optical signals according to the plurality of phases to generate an optical signal across a plurality of outputs.

Description

[0001] This application is a divisional application of Chinese invention patent application "Using multiple outputs to combine coherent signals for quasi-continuous wave LIDAR operation", which entered the Chinese national phase on September 2, 2022, with PCT application number PCT / US2021 / 020660, international application date of March 3, 2021, and Chinese application number 202180018721.3.

[0002] Cross-referencing of related applications

[0003] This application claims the benefit and priority of U.S. Provisional Patent Application No. 62 / 985724, filed March 5, 2020; U.S. Provisional Patent Application No. 62 / 993436, filed March 23, 2020; and U.S. Non-Provisional Patent Application No. 17 / 142,868, filed January 6, 2021, the entire disclosure of each of which is incorporated herein by reference. Background Technology

[0004] Optical distance detection using lasers, often referred to by the mnemonic LIDAR, is used for optical detection and ranging, sometimes called laser RADAR, and is used in a variety of applications, from altimetry to imaging to collision avoidance. Compared to traditional microwave ranging systems such as radio wave detection and ranging (RADAR), LIDAR provides finer-scale distance resolution using a smaller beam size. Several different techniques can be used to perform optical distance detection, including direct ranging based on the round-trip time of a light pulse to an object, chirped detection based on the frequency difference between the emitted chirped light signal and the reflected signal scattered from the object, and phase-coded detection based on a single-frequency phase change sequence that can be distinguished from natural signals. Summary of the Invention

[0005] The various aspects of this disclosure generally relate to optical detection and ranging (LIDAR) in the field of optics, and more specifically, to systems and methods for using multiple outputs to coherently combine signals for quasi-continuous wave LIDAR operation to support vehicle operation.

[0006] In one aspect, this disclosure relates to a signal processing system for optical detection and ranging (LIDAR) operation. In some embodiments, the signal processing system includes an amplifier configured to receive a plurality of optical signals, each associated with a plurality of phases, and to generate a plurality of amplified optical signals using the plurality of optical signals. In some embodiments, the signal processing system includes a splitter coupled to the amplifier and configured to receive the plurality of amplified optical signals and to combine the plurality of amplified optical signals according to the plurality of phases to generate optical signals across a plurality of outputs.

[0007] In another aspect, this disclosure relates to a LIDAR system including a signal processing system. In some embodiments, the signal processing system includes a phase shifter configured to receive a plurality of optical signals and generate a plurality of phase-shifted optical signals, each associated with a plurality of phases. In some embodiments, the signal processing system includes an amplifier configured to receive the plurality of phase-shifted optical signals and generate a plurality of amplified optical signals using the plurality of phase-shifted optical signals. In some embodiments, the signal processing system includes a splitter coupled to the amplifier and configured to receive the plurality of amplified optical signals and combine the plurality of amplified optical signals according to the plurality of phases to generate optical signals across a plurality of outputs.

[0008] In another aspect, this disclosure relates to an autonomous vehicle control system including a signal processing system for LIDAR operation. In some embodiments, the signal processing system includes a phase shifter configured to receive a plurality of optical signals and generate a plurality of phase-shifted optical signals, each associated with a plurality of phases. In some embodiments, the signal processing system includes an amplifier configured to receive the plurality of phase-shifted optical signals and generate a plurality of amplified optical signals using the plurality of phase-shifted optical signals. In some embodiments, the signal processing system includes a splitter coupled to the amplifier and configured to receive the plurality of amplified optical signals and combine the plurality of amplified optical signals according to the plurality of phases to generate optical signals across a plurality of outputs. In some embodiments, the signal processing system includes one or more processors configured to control the operation of an autonomous vehicle using the optical signals.

[0009] Other aspects, features, and advantages will become apparent from the following detailed description merely by illustrating numerous specific embodiments and implementations, including the best mode contemplated for carrying out this disclosure. Other embodiments are also capable of having other different features and advantages, and modifications can be made to several details in various obvious aspects, all without departing from the spirit and scope of this disclosure. Therefore, the drawings and descriptions should be considered illustrative in nature, rather than restrictive. Attached Figure Description

[0010] The embodiments are illustrated by way of example and not limitation in the accompanying drawings, in which the same reference numerals refer to the same elements, and in the drawings:

[0011] Figure 1 This is a block diagram illustrating an example of a system environment for an autonomous vehicle according to some implementation methods;

[0012] Figure 2A This is a block diagram depicting an example quasi-continuous wave LIDAR system for vehicle operation according to some implementations;

[0013] Figure 2B This is a block diagram depicting an example quasi-continuous wave LIDAR system for vehicle operation according to some implementations.

[0014] Figure 3 This is a block diagram depicting an example environment of a coherent signal generator architecture, according to some embodiments, for coherent signal combination using multiple outputs for quasi-continuous wave LIDAR operation.

[0015] Figure 4 It is a description of the illustrative implementation method. Figure 3 Time-based plots of quasi-continuous waveforms measured at output channels 312a-312d of the coherent signal generator;

[0016] Figure 5 It is a description of the illustrative implementation method from Figure 3 A time-based plot of the sum of the output power of the SOA 308a-308d coherent signal generators in the diagram;

[0017] Figure 6 It describes according to some implementation methods Figure 3 A block diagram of an example environment in which the coherent signal generator architecture is configured to direct all light onto the output channel;

[0018] Figure 7 It describes according to some implementation methods Figure 3 A block diagram of an example environment in which the coherent signal generator architecture is configured to direct all light onto the output channel;

[0019] Figure 8 It describes according to some implementation methods Figure 3 A block diagram of an example environment in which the coherent signal generator architecture is configured to direct all light onto the output channel;

[0020] Figure 9 It describes according to some implementation methods Figure 3 A block diagram of an example environment where the coherent signal generator architecture is configured to direct all light onto the output channel; and

[0021] Figure 10 This is a block diagram depicting an example environment of a coherent signal generator architecture, according to some implementations, for using multiple outputs to coherently combine signals for quasi-continuous wave LIDAR operation. Detailed Implementation

[0022] A LIDAR system may include a laser source for providing an optical signal (sometimes referred to as a “beam”), one or more modulators for modulating the phase and / or frequency of the optical signal using continuous wave (CW) modulation or quasi-CW modulation, an amplifier for amplifying the modulated signal to send the signal to a specific range, and / or optics (e.g., a mirror scanner) for directing the amplified signal to the environment within a given field of view.

[0023] In a LiDAR system using CW modulation, the modulator continuously modulates the laser. For example, if the modulation period is 10 seconds, the input signal is modulated throughout the entire 10 seconds. Conversely, in a LiDAR system using quasi-CW modulation, the modulator modulates the laser into active and inactive portions. For example, for a 10-second period, the modulator modulates the laser for only 8 seconds (sometimes called the "active portion"), but not for 2 seconds (sometimes called the "inactive portion"). By doing so, the LiDAR system can reduce power consumption by up to 2 seconds because the modulator does not have to provide a continuous signal.

[0024] In frequency modulated continuous wave (FMCW) LiDARs used in automotive applications, operating the LiDAR system with quasi-CW modulation can be advantageous, where FMCW measurement and signal processing methods are employed, but the optical signal is not always in an on-state (e.g., enabled, powered, transmitting, etc.). In some implementations, quasi-CW modulation can have a duty cycle equal to or greater than 1% and up to 50%. If the energy in the off-state (e.g., disabled, powered off, etc.) can be consumed during the actual measurement time, the signal-to-noise ratio (SNR) can be improved and / or the signal processing requirements reduced to coherently integrate all energy over a longer timescale.

[0025] In some implementations, erbium-doped fiber amplifiers (EDFAs) can be used to implement coherent signal generators (e.g., in...). Figure 2A The coherent signal generator 206 in Figure 2B (Coherent signal generator 206 in the example). By using an EDFA in a coherent beam generator, it is possible to store optical gain and / or energy for systems implementing quasi-CW modulation, and to provide the output signal from the EDFA in shorter pulse trains by pulsed input to the EDFA.

[0026] In some implementations, a semiconductor optical amplifier (SOA) can be used to implement a coherent signal generator (e.g., Figure 2A The coherent signal generator 206 in the middle, Figure 2B(e.g., coherent signal generator 206). High levels of integration can be achieved by using SOAs in coherent signal generators. For example, a large number of SOAs can be scaled down and placed on a single semiconductor chip, which not only leads to improved speed (e.g., less latency) and power consumption (e.g., power can be routed more efficiently between SOAs), but also improves the manufacturing process. That is, scaling down a coherent signal generator (sometimes called a “signal processing system”) to a single semiconductor chip means that the size of the semiconductor chip (e.g., silicon) can be smaller, thereby reducing the likelihood that manufacturing defects will affect the performance of the coherent signal generator.

[0027] Therefore, this disclosure relates to systems and methods for generating coherent signals (e.g., combining, merging, adding, mixing, etc.) using multiple outputs for quasi-continuous wave LIDAR operation to support the operation of a vehicle's LIDAR system.

[0028] In various example implementations, as described in the following paragraphs, a coherent signal generator may include one or more phase shifters and / or one or more splitters (e.g., 50 / 50 splitters). A coherent signal generator may include an amplifier, such as an SOA, comprising multiple sub-amplifiers, each sub-amplifier coupled to one or more output channels of the coherent signal generator via one or more beam splitters (e.g., 50 / 50 beam splitters, etc.). Each sub-amplifier can provide a continuous wave with a fixed output power (e.g., a duty cycle up to 95%). The coherent signal generator may (using one or more splitters) coherently combine some or all of the output power of the sub-amplifiers into a combined output power and send the combined output power to one of the output channels. For example, if a coherent signal generator includes eight sub-amplifiers, each producing 100 milliwatts (mW) of output power, the coherent signal generator will combine the output power from the eight sub-amplifiers to generate a combined output power of 800 mW and send that combined output power to one of the output channels.

[0029] Power combining can be controlled through specific settings of the optical phase relationship between all sub-amplifiers. The phase can be set (e.g., configured, programmed, initialized, etc.) to provide the combined output power from all sub-amplifiers in the coherent signal generator to a single output channel (e.g., generating / combining 800mW of output power from 8 sub-amplifiers, each producing 100mW), to provide the combined output power from some sub-amplifiers in the coherent signal generator to a single output channel (e.g., generating / combining 200mW of output power from 2 of 8 sub-amplifiers in the coherent signal generator, each producing 100mW), or any combination in between. The phase can also be set to provide the output power of any sub-amplifier (e.g., 100mW) to any output channel.

[0030] Because of the ability to rapidly change the phase setting, in some implementations, the architecture of the CNC network allows the total combined output power from all sub-amplifiers (e.g., 800mW in an 8-sub-amplifier network) to be sequentially sent to each of the output channels (e.g., 8 channels), thereby generating a time-varying series of pulses from each output channel. In some implementations, the total average power supplied from all output channels of the coherent signal generator remains constant, but the power distribution among the output channels may vary over time.

[0031] The various example implementations described herein may include one or more of the following features: (1) some or all paths (from input to output) of the coherent signal generator may be length-matched to ensure stable operation with temperature; (2) some or all of the subamplifiers of one or more splitters may have nearly identical output power to achieve high contrast on one or more output channels of the coherent signal generator; (3) one or more splitters may have low loss and / or a split ratio very close to 50 / 50; (4) the coherent signal generator may include one or more waveguide crossovers where coupling with faulty paths is minimized; the coherent signal generator may include one or more slow static phase shifters on each half-branch of each layer to maintain stable operation; (5) the coherent signal generator (5) A tap photodiode may be included at selected points on the output channel and / or along branches of one or more splitters for development purposes and / or to ensure stable operation; (6) A coherent signal generator may include a tap from a laser source preceding one or more modulators for coherent detection; (7) A coherent signal generator may include one or more phase shifters preceding one or more subamplifiers; (8) A coherent signal generator may include one or more phase shifters following one or more subamplifiers; and (9) A coherent signal generator may include one or more phase shifters following one or more subamplifiers, which are fast enough to achieve switching efficiently and quickly (e.g., rise time less than 100 ns) to produce the benefit of loss compensation by subamplifier gain.

[0032] In some implementations, one or more splitters can be replaced with a multimode interference (MMI) structure or coupler. In some implementations, a binary switching network following one or more splitters (or MMI structures or couplers) can be used to branch the output to even more output channels.

[0033] In the following description, numerous specific details are set forth for purposes of explanation in order to provide a thorough understanding of this disclosure. However, it will be apparent to those skilled in the art that this disclosure may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form to avoid unnecessarily obscuring this disclosure.

[0034] 1. System environment of autonomous vehicles

[0035] Figure 1 This is a block diagram illustrating an example of a system environment for an autonomous vehicle according to some implementations.

[0036] refer to Figure 1 Example autonomous vehicle 100, in which various technologies disclosed herein may be implemented. For example, vehicle 100 may include: a powertrain 102 including a prime mover 104 powered by an energy source 106 and capable of powering a drivetrain 108; and a control system 110 including a steering control 112, a powertrain control 114, and a braking control 116. Vehicle 100 may be implemented as any number of different types of vehicles, including vehicles capable of transporting people and / or goods and capable of operating in a variety of environments, and it should be understood that the aforementioned components 102-116 can vary widely depending on the type of vehicle in which these components can be utilized.

[0037] For simplicity, the embodiments discussed below will focus on wheeled land vehicles, such as cars, vans, trucks, public vehicles, etc. In such embodiments, the prime mover 104 may include one or more electric motors and / or internal combustion engines (etc.). Energy sources may include, for example, fuel systems (e.g., providing gasoline, diesel, hydrogen, etc.), battery systems, solar panels or other renewable energy sources and / or fuel cell systems. The drivetrain 108 may include: wheels and / or tires and a transmission and / or any other mechanical drive components to convert the output of the prime mover 104 into vehicle motion, and one or more brakes configured to controllably stop or slow down the vehicle 100, and directional or steering components suitable for controlling the trajectory of the vehicle 100 (e.g., rack and pinion steering linkage that enables one or more wheels of the vehicle 100 to pivot about a generally vertical axis to change the angle of the wheel's plane of rotation relative to the vehicle's longitudinal axis). In some embodiments, a combination of drivetrain and energy source may be used (e.g., in the case of an electric / gas hybrid vehicle), and in some cases, multiple electric motors (e.g., dedicated to individual wheels or axles) may be used as prime movers.

[0038] The steering control 112 may include one or more actuators and / or sensors for controlling and receiving feedback from steering or directional components to enable the vehicle 100 to follow a desired trajectory. The powertrain control 114 may be configured to control the output of the powertrain 102, such as controlling the output power of the prime mover 104, controlling the gear position of the transmission in the drive system 108, thereby controlling the speed and / or direction of the vehicle 100. The braking control 116 may be configured to control one or more brakes that decelerate or stop the vehicle 100, such as disc brakes or drum brakes coupled to the vehicle wheels.

[0039] Other vehicle types, including but not limited to off-road vehicles, all-terrain or tracked vehicles, construction equipment, etc., will inevitably utilize different powertrain systems, drivetrain systems, energy sources, steering controls, powertrain controls, and braking controls. Furthermore, in some embodiments, components can be combined, for example, where the vehicle's steering controls are primarily handled by altering the output of one or more prime movers. Therefore, the embodiments disclosed herein are not limited to the specific applications of the techniques described herein in autonomous wheeled land vehicles.

[0040] The vehicle control system 120 enables various levels of automated driving control of the vehicle 100. This system may include one or more processors 122 and one or more memories 124, wherein each processor 122 is configured to execute program code instructions 126 stored in the memory 124. The processors may include, for example, multiple graphics processing units (“GPUs”) and / or multiple central processing units (“CPUs”).

[0041] Sensor 130 may include various sensors suitable for collecting information from the vehicle's surrounding environment for controlling the vehicle's operation. For example, sensor 130 may include a radar sensor 134, a LiDAR (Light Detection and Ranging) sensor 136, a 3D positioning sensor 138, such as an accelerometer, gyroscope, magnetometer, or a satellite navigation system such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), BeiDou Navigation Satellite System (BDS), Galileo, a compass, etc. The 3D positioning sensor 138 can be used to determine the vehicle's position on Earth using satellite signals. Sensor 130 may include a camera 140 and / or an IMU (Inertial Measurement Unit) 142. The camera 140 may be a single-frame or stereo camera and capable of recording still and / or video images. The IMU 142 may include multiple gyroscopes and accelerometers capable of detecting the vehicle's linear and rotational motion in three directions. One or more encoders, such as wheel encoders (not shown), can be used to monitor the rotation of one or more wheels of vehicle 100. Each sensor 130 is capable of outputting sensor data at various data rates, which may differ from the data rates of the other sensors 130.

[0042] The output of sensor 130 can be provided to a set of control subsystems 150, including a positioning subsystem 152, a planning subsystem 156, a perception subsystem 154, and a control subsystem 158. Positioning subsystem 152 is capable of performing functions such as accurately determining the position and orientation (sometimes referred to as "pose") of vehicle 100 in its surrounding environment and generally within a reference frame. It is capable of comparing the position of the autonomous vehicle with the positions of other vehicles in the same environment as a portion of the generated tagged autonomous vehicle data. Perception subsystem 154 is capable of performing functions such as detecting, tracking, identifying, and / or recognizing objects within the environment surrounding vehicle 100. According to some embodiments, machine learning models can be used to track objects. Planning subsystem 156 is capable of performing functions such as planning the trajectory of vehicle 100 within a certain time frame, given a desired destination and static and moving objects within the environment. According to some embodiments, machine learning models can be used to plan vehicle trajectories. Control subsystem 158 is capable of performing functions such as generating appropriate control signals for controlling various controls in vehicle control system 120 to achieve the planned trajectory of vehicle 100. Machine learning models can be used to generate one or more signals to control autonomous vehicles to achieve a planned trajectory.

[0043] It will be understood that the vehicle control system 120 is used in Figure 1The assembly of components illustrated herein is merely exemplary in nature. Individual sensors may be omitted in some embodiments. Alternatively, in some embodiments, Figure 1 Multiple sensors of the type illustrated herein can be used for redundancy and / or coverage of different areas around the vehicle, and other types of sensors can be used. Similarly, different types and / or combinations of control subsystems can be used in other embodiments. Furthermore, although subsystems 152-158 are illustrated as separate from processor 122 and memory 124, it will be understood that in some embodiments, some or all of the functions of subsystems 152-158 can be implemented using program code instructions 126 residing in one or more memories 124 and executed by one or more processors 122, and these subsystems 152-158 may, in some cases, be implemented using the same(multiple) processors and / or memory. Subsystems can be implemented, at least in part, using various special-purpose circuit logics, various processors, various field-programmable gate arrays (“FPGAs”), various application-specific integrated circuits (“ASICs”), and various real-time controllers, etc., as described above, and multiple subsystems can utilize circuits, processors, sensors, and / or other components. Furthermore, various components in the vehicle control system 120 can be networked in various ways.

[0044] In some embodiments, vehicle 100 may further include an auxiliary vehicle control system (not shown), which can be used as a redundancy or backup control system for vehicle 100. In some embodiments, the auxiliary vehicle control system is capable of fully operating the autonomous vehicle 100 in the event of an adverse event detected in the primary vehicle control system 120, while in other embodiments, the auxiliary vehicle control system may have only limited functionality, such as performing a controlled stop of vehicle 100 in response to an adverse event detected in the primary vehicle control system 120. In other embodiments, the auxiliary vehicle control system may be omitted.

[0045] Typically, countless different architectures can be used, including various combinations of software, hardware, circuit logic, sensors, networks, etc. Figure 1 The various components illustrated herein. For example, each processor may be implemented as a microprocessor, and each memory may represent a random access memory (“RAM”) device, which includes main memory and any supplementary levels of memory, such as cache memory, non-volatile or backup memory (e.g., programmable memory or flash memory), read-only memory, etc. Additionally, each memory may be considered to include memory physically located elsewhere in vehicle 100, such as any cache memory in the processor and any storage capacity used as virtual memory, such as storage capacity used for storage on mass storage devices or other computer controllers. Figure 1One or more processors, or completely separate processors, shown in the diagram can be used in vehicle 100 to implement additional functions beyond the purpose of autonomous driving control, such as controlling the entertainment system, operating doors, lights, power windows, etc.

[0046] Additionally, for other storage, vehicle 100 may include one or more mass storage devices, such as removable disk drives, hard disk drives, direct access storage devices (“DASD”), optical drives (e.g., CD drives, DVD drives, etc.), solid-state storage drives (“SSD”), network-attached storage, storage area networks, and / or tape drives, etc.

[0047] In addition, vehicle 100 may include a user interface 164 for enabling vehicle 100 to receive multiple inputs from a user or operator and generate outputs for the user or operator, such as one or more displays, touchscreens, voice and / or gesture interfaces, buttons, and other tactile controls. Alternatively, user input may be received via another computer or electronic device, such as via an application on a mobile device or through a web interface.

[0048] Furthermore, vehicle 100 may include one or more network interfaces, such as network interface 162, adapted to communicate with one or more networks 170 (e.g., local area network (“LAN”), wide area network (“WAN”), wireless network, and / or the Internet, etc.) to permit communication of information with other computers and electronic devices, including a central service such as a cloud service from which vehicle 100 receives environmental and other data for its autonomous driving control. Data collected by one or more sensors 130 can be uploaded via network 170 to computing system 172 for additional processing. In some embodiments, timestamps can be added to each instance of vehicle data before uploading.

[0049] Figure 1 Each processor illustrated herein, as well as the various additional controllers and subsystems disclosed herein, typically operates under the control of an operating system and executes or otherwise depends on various computer software applications, components, programs, objects, modules, data structures, etc., as described in more detail below. Furthermore, various applications, components, programs, objects, modules, etc., may also execute on one or more processors in another computer coupled to vehicle 100 via network 170, for example in a distributed, cloud-based, or client-server computing environment, thereby enabling the processing required to realize the functionality of the computer program to be distributed across multiple computers and / or services via the network.

[0050] Generally, routines executed to implement the various embodiments described herein, whether implemented as part of an operating system or as a particular application, component, program, object, module, or sequence of instructions, or even a subset thereof, will be referred to herein as "program code." Program code can include one or more instructions that reside at different times in various memories and storage devices and, when read and executed by one or more processors, perform steps necessary to perform the steps or elements embodying various aspects of this disclosure. Furthermore, while embodiments have been and will be described below in the context of fully functional computer and systems, it will be understood that the various embodiments described herein can be distributed as program products in various forms and can be implemented regardless of the specific type of computer-readable medium used for the actual execution of the distribution.

[0051] Examples of computer-readable media include tangible, non-transient media such as volatile and non-volatile storage devices, floppy disks and other removable disks, solid-state drives, hard disk drives, magnetic tapes and optical discs (e.g., CD-ROMs, DVDs, etc.), and so on.

[0052] Furthermore, the various program codes described below can be identified based on the applications in which they are implemented in particular embodiments. However, it should be understood that the use of any particular program nomenclature below is merely for convenience, and therefore this disclosure should not be limited to any particular application identified and / or implied by such nomenclature. Moreover, given the generally endless ways in which computer programs can be organized into routines, procedures, methods, modules, and objects, and the various ways in which program functionality can be allocated among different software layers residing in a typical computer (e.g., operating system, library, API, application, applet, etc.), it should be understood that this disclosure is not limited to the specific organization and allocation of program functionality described herein.

[0053] Figure 1 The environments illustrated are not intended to limit the implementations disclosed herein. In practice, other alternative hardware and / or software environments can be used without departing from the scope of the implementations disclosed herein.

[0054] 2. Using multiple outputs for coherent signal combination

[0055] Figure 2A This is a block diagram depicting an example quasi-continuous wave LiDAR system for vehicle operation according to some embodiments. The quasi-continuous wave LiDAR system 200a includes a laser source 202 for providing an optical signal (sometimes referred to as a "beam").

[0056] The quasi-continuous wave LiDAR system 200a includes a modulator 204 for modulating an optical signal and a coherent signal generator 206 (sometimes referred to as a "signal processing system") for generating coherent signals (e.g., combining, merging, adding, mixing, etc.) using multiple outputs for quasi-continuous wave LiDAR operation. Specifically, the modulator 204 receives an optical signal from a laser source 202, modulates the phase and / or frequency of the optical signal using continuous wave (CW) modulation or quasi-CW modulation, and provides the modulated signal to one or more input channels of the coherent signal generator 206.

[0057] The coherent signal generator 206 combines the received modulated signals across multiple outputs of the coherent signal generator 206 (e.g., Figure 3 The output channels 312a-312d generate a continuous wave signal and provide it to the scanner 208 (e.g., an oscillating scanner, a unidirectional scanner, a Risley prism, etc.). In some embodiments, the coherent signal generator 206 operates multiple sub-amplifiers (e.g., ...) at different duty cycles. Figure 3 The SOA 308a-d in the model is used to generate continuous wave signals.

[0058] Based on the received continuous signals, the scanner 208 generates one or more scanning signals to drive one or more optical elements for optical inspection of the object 210.

[0059] like Figure 2A As shown, modulator 204 can be separated from coherent signal generator 206.

[0060] Any component of the quasi-continuous wave LIDAR system 200a (e.g., laser source 202, modulator 204, coherent signal generator 206, and scanner 208) may be included in one or more semiconductor packages. For example, laser 202 may be in a first semiconductor package, coherent signal generator 204 may be in a second semiconductor package, and scanner 206 may be in a third semiconductor package. As another example, the semiconductor package may include laser 202, modulator 204, coherent signal generator 206, and scanner 208.

[0061] Figure 2B This is a block diagram depicting an example quasi-continuous wave LiDAR system for vehicle operation according to some embodiments. The quasi-continuous wave LiDAR system 200b includes a laser source 202 for optical detection of an object 210, a coherent signal generator 206, and a scanner 208. Figure 2B The coherent signal generator 206 in the middle includes Figure 2A Features and / or functions of modulator 206 in the middle.

[0062] Any component of the quasi-continuous wave LIDAR system 200b (e.g., laser source 202, coherent signal generator 206, and scanner 208) may be included in one or more semiconductor packages.

[0063] Figure 3 This describes, according to some embodiments, a coherent signal generator architecture for coherent signal combination using multiple outputs for quasi-continuous wave LiDAR operation (e.g., Figure 2A The coherent signal generator 206 in Figure 2B A block diagram of an example environment (coherent signal generator 206) is shown. Environment 300 includes a laser source 202 for providing an optical signal (sometimes referred to as a "beam"). Environment 300 includes a modulator 204 for modulating the phase and / or frequency of the optical signal using continuous wave (CW) modulation or quasi-CW modulation to generate a modulated signal.

[0064] Environment 300 includes a phase shifter network 306 for adjusting the phase of the modulated signal and providing the modulated signal to amplifier 308. Phase shifter 306 includes phase shifter 306a, phase shifter 306b, phase shifter 306c and phase shifter 306d; collectively referred to as "phase shifters 306a-d".

[0065] Amplifier 308 includes sub-amplifiers such as SOA 308a, SOA 308b, SOA 308c, and SOA 308d; collectively referred to as "SOA 308a-d". Each sub-amplifier produces an amplified signal.

[0066] Environment 300 includes a beam splitter network 310 (sometimes referred to as "splitter 310"), which generates an output waveform by combining some or all of the amplified signals based on the principles of constructive and destructive interference. Beam splitter network 310 includes beam splitter 310a (in... Figure 3 The beam splitter 310b (shown as "50 / 50 3l0a") is shown as "50 / 50 3l0a". Figure 3 The display shows "50 / 503l0b", and the beam splitter 310c (in Figure 3 The text appears to be a mix of seemingly unrelated fragments and incomplete sentences, making it impossible to translate accurately. It seems to be a collection of snippets from various sources, possibly related to a product or service. Figure 3 It is displayed as “50 / 50 3l0d”; collectively referred to as “beam splitter 3l0a-d”.

[0067] Environment 300 includes output channels 312a, 312b, 312c, and 312d; collectively referred to as "output channels 312a-d". Although Figure 3Only a selected number of components (e.g., laser source 202, modulator 204, phase shifters 306a-d, SOA 308a-d, and beam splitter 310a-d) and output channels 312a-d are shown; those skilled in the art will understand that environment 300 may include any number of components and / or output channels (in any combination) interconnected in any arrangement to facilitate coherent signal combination for quasi-continuous wave LiDAR operation. For example, an 8-channel coherent signal generator architecture (e.g., as...) Figure 8 The example shown will include 8 phase shifters, 8 SOA, 8 output channels, and 13 splitters. As another example, a 16-channel coherent signal generator will include 16 phase shifters, 16 SOA, 16 output channels, and 26 splitters.

[0068] The laser source 202 is coupled to the input terminal of the modulator 204, and the output of the modulator 204 is coupled to the input terminals of the phase shifters 306a, 306b, 306c and 306d.

[0069] The output terminal of phase shifter 306a is coupled to the input terminal of SOA 308a, and the output terminal of SOA 308a is coupled to the first input terminal of beam splitter 310b. The output terminal of phase shifter 306b is coupled to the input terminal of SOA 308b, and the output terminal of SOA 308b is coupled to the first input terminal of beam splitter 310a. The output terminal of phase shifter 306c is coupled to the input terminal of SOA 308c, and the output terminal of SOA 308c is coupled to the second input terminal of beam splitter 310a. The output terminal of phase shifter 306d is coupled to the input terminal of SOA 308d, and the output terminal of SOA 308d is coupled to the second input terminal of beam splitter 310b.

[0070] The first output terminal of beam splitter 310a is coupled to the first input terminal of beam splitter 310c, and the first output terminal of beam splitter 310c is coupled to output channel 312a (in Figure 3 (Displayed as "Output 312a"), and the second output terminal is coupled to output channel 312b (in Figure 3 The output is displayed as "Output 312b".

[0071] The second output terminal of beam splitter 310a is coupled to the second input terminal of beam splitter 310d, and the first output terminal of beam splitter 310d is coupled to output channel 312c (in Figure 3 (Displayed as "Output 312c"), and the second output terminal is coupled to output channel 312d (in Figure 3 The output is displayed as "Output 312d".

[0072] The first output terminal of beam splitter 310b is coupled to the second input terminal of beam splitter 310c, and the second output terminal of beam splitter 310b is coupled to the first input terminal of beam splitter 310d.

[0073] In some implementations, semiconductor packaging ( Figure 3 The first semiconductor package (not shown) may include some or all of the components of the environment 300 (e.g., laser source 202, modulator 204, phase shifters 306a-d, SOA 308a-d, and beam splitter 310a-d). For example, the first semiconductor package may include components of the modulator 204; and the second semiconductor package may include components of the phase shifter 306 (e.g., phase shifters 306a-d), components of the amplifier 308 (e.g., SOA 308a-d), and / or components of the beam splitter network 310 (e.g., beam splitters 310a-d). In this arrangement, one or more outputs of the first semiconductor package may be coupled to one or more inputs of the second semiconductor package.

[0074] As another example, the semiconductor package may include components of modulator 204, components of phase shifter 306 (e.g., phase shifters 306a-d), components of amplifier 308 (e.g., SOA 308a-d), and / or components of beam splitter network 310 (e.g., beam splitters 310a-d). In this arrangement, laser 202 may be coupled to one or more inputs of the semiconductor package.

[0075] In some implementations, output channels 312a-312d may correspond to outputs on a semiconductor package.

[0076] Still referencing Figure 3 By operating the sub-amplifiers at different duty cycles (e.g., SOA 308a-d), amplifier 308 and beam splitter network 310 can generate continuous output waveforms across the output channels 312a-312d of the coherent signal generator (e.g., Figure 4The output waveforms 402a-d are shown in the diagram. That is, the continuous wave power from each SOA 308a-d can be coherently summed in the beam splitter network 310 (based on the principles of constructive and destructive interference) to ideally increase the output power to a single output channel by a factor of N at a given time, where N is the number of sub-amplifiers. This increased output power can be directed (e.g., routed, focused, etc.) to different outputs at different times, thus providing switching to increase the effective number of available channels. The challenge lies in controlling the phase in the beam splitter network 310, which depends on the optical path length of the waveguide. In some embodiments, some or all of the paths between beam splitters 310a-310d can be matched. In some embodiments, with good design and / or process control, the number of phase shifters (e.g., phase shifters 306a-d) required to control the output can be reduced.

[0077] Figure 4 It is a description of the illustrative implementation method. Figure 3 The time-based plots are of quasi-CW waveforms measured at output channels 312a-312d of the coherent signal generator. These time-based plots include output waveforms 402a, 402b, 402c, and 402d; each of which is a quasi-CW waveform generated by operating components of the coherent signal generator (e.g., laser source 202, modulator 204, phase shifters 306a-d, SOA 308a-d, and beam splitter 310a-d) under a set of operating conditions.

[0078] For example, refer to Figure 3 Laser 202 drives the modulator with a 400mW continuous wave (e.g., up to 95% duty cycle). Modulator 204 uses quasi-CW modulation to modulate the phase and / or frequency of the received optical signal to generate a modulated optical signal, and sends the modulated optical signal to each input terminal of phase shifters 306a-d. Each of the phase shifters 306a-d is processed by a processor ( Figure 3Under the control of (not shown), the phase of the received modulation signal is shifted (e.g., adjusted, modified, etc.) to generate a shifted modulation signal, and the shifted modulation signal is sent to amplifier 308. Amplifier 308 amplifies each of the four shifted modulation signals (four copies) it receives from phase shifter 306 to generate a first amplified signal measured at 100mW at tap 309a, a second amplified signal measured at 100mW at tap 309b, a third amplified signal measured at 100mW at tap 309c, and a fourth amplified signal measured at 100mW at tap 309d. Amplifier 308 sends amplified signals (e.g., a first amplified signal, a second amplified signal, a third amplified signal, and a fourth amplified signal) to beam splitter network 310, which generates output waveforms 402a at output channel 312a, 402b at output channel 312b, 402c at output channel 312c, and 402d at output channel 312d.

[0079] The beam splitter network 310 generates each of the output waveforms 412a-412d by combining some or all of the amplified signals based on the principles of constructive and destructive interference.

[0080] In constructive interference, the beam splitter network 310 combines two waveforms to produce a resulting waveform with an amplitude higher than either of the two waveforms. For example, if the beam splitter network 310 combines two waveforms with the same amplitude, the resulting waveform will have a maximum amplitude that is twice the amplitude of the two waveforms. The region where the amplitude is between the original amplitude and the maximum amplitude is called constructive interference. Constructive interference occurs when the waveforms are in phase with each other.

[0081] In destructive interference, the beam splitter network 310 combines two waveforms to produce a resulting waveform with an amplitude lower than that of each of the two waveforms. For example, if the beam splitter network 310 combines two waveforms with the same amplitude, the resulting waveform will have a minimum amplitude of zero. In this case, the resulting waveform will disappear completely in some places. The region between the original amplitude and the minimum amplitude is called the destructive interference region. Destructive interference occurs when the waveforms are out of phase with each other.

[0082] Figure 5 It is a description of the illustrative implementation method from Figure 3 The time-based plot of the sum of the output power of the SOA 308a-308d coherent signal generators in the diagram. This time-based plot 500 depicts the output waveform 402a at output channel 312a (in... Figure 5 The waveform displayed as "Chl" in the output channel 312b is the output waveform 402b (in the output channel 312b). Figure 5The waveform displayed as "Ch2" in the output channel 312c is the output waveform 402c (in the output channel 312c). Figure 5 The waveform is displayed as "Ch3" in the output channel 312d and the output waveform 402d at the output channel 312d. Figure 5 The relationship between (shown as "Ch4" in the text).

[0083] Using a beam splitter network 310 including beam splitters 310a-d (e.g., 50:50 2x2 splitters), the phase of the light after SOA 308a-d can be directly determined, requiring these SOA 308a-d to guide the light to specific output channels 312a-312d. Each beam splitter 310a-d can be parameterized as a 2x2 scattering matrix according to equation (1):

[0084]

[0085] The entire network can be scaled up proportionally. For example, Figure 3 The coherent signal generator (e.g., a 4x4 network) can be parameterized as two layers of 4x4 scattering matrices, each consisting of 2x2 submatrices that describe the 2x2 splitters in each layer. Figure 3 The final matrix of the 4x4 network shown can be based on equation (2):

[0086]

[0087] Then, the phase of the input field that leads to all the power being directed to a single output channel 312a-d can be found by inverting the scattering matrix according to equation (3):

[0088]

[0089] if If it is desired to represent four times the light of a single channel provided in the topmost output channel (e.g., output channel 112a), then in some embodiments, the phase on the input channel is... Or [0 degrees, 90 degrees, 180 degrees, 90 degrees], such as Figure 6 As shown.

[0090] Figure 6 It describes according to some implementation methods Figure 3 The block diagram of the coherent signal generator architecture in the example environment is shown when it is configured to direct all light onto the output channels. Assuming all paths from the input to the beam splitter network 310 to all output channels 312a-d have the same length, environment 600 illustrates the amplitude and phase used to direct all light onto output channel 312a. The phase is relative, so any rotation of the same amount across all phases results in all light remaining in the same output channel.

[0091] like Figure 6 As shown, phase shifter 306a is configured to 0 degrees, phase shifter 306b to 90 degrees, phase shifter 306c to 180 degrees, and phase shifter 306d to 90 degrees. The amplified signal at tap 309a is 100mW, the amplified signal at tap 309b is 100mW, the amplified signal at tap 309c is 100mW, and the amplified signal at tap 309d is 100mW. Under these conditions, the coherent signal generator produces a 400mW waveform (100mW + 100mW + 100mW + 100mW = 400mW) at output channel 312a, and a 0mW waveform at output channels 312b, 312c, and 312d.

[0092] Figure 7 It describes according to some implementation methods Figure 3 The block diagram of the coherent signal generator architecture in the example environment is shown when configured to direct all light onto the output channels. Environment 700 illustrates the amplitude and phase used to direct all light onto output channel 312b, assuming that all paths from the input to the beam splitter network 310 to all output channels 312a-d have the same length. The phase is relative, so any rotation of the same amount of phase across all channels results in all light remaining in the same output channel.

[0093] like Figure 7 As shown, phase shifter 306a is configured at 90 degrees, phase shifter 306b is configured at 0 degrees, phase shifter 306c is configured at 90 degrees, and phase shifter 306d is configured at 180 degrees. The amplified signal at tap 309a is 100mW, the amplified signal at tap 309b is 100mW, the amplified signal at tap 309c is 100mW, and the amplified signal at tap 309d is 100mW. Under these conditions, the coherent signal generator produces a 400mW waveform (100mW + 100mW + 100mW + 100mW = 400mW) at output channel 312b, and 0mW at output channels 112a, 112c, and 112d.

[0094] Figure 8 It describes according to some implementation methods Figure 3 The block diagram of the coherent signal generator architecture in the example environment is shown when it is configured to direct all light onto the output channels. Assuming all paths from the input to the beam splitter network 310 to all output channels 312a-d have the same length, environment 800 illustrates the amplitude and phase used to direct all light onto output channel 312c. The phase is relative, so any rotation of the same amount across all phases results in all light remaining in the same output channel.

[0095] like Figure 8 As shown, phase shifter 306a is configured at 180 degrees, phase shifter 306b at 90 degrees, phase shifter 306c at 0 degrees, and phase shifter 306d at 90 degrees. The amplified signal at tap 309a is 100mW, the amplified signal at tap 309b is 100mW, the amplified signal at tap 309c is 100mW, and the amplified signal at tap 309d is 100mW. Under these conditions, the coherent signal generator produces a 400mW waveform (100mW + 100mW + 100mW + 100mW = 400mW) at output channel 312c, and a 0mW waveform at output channels 312a, 312b, and 312d.

[0096] Figure 9 It describes according to some implementation methods Figure 3 The block diagram of the coherent signal generator architecture in the example environment is shown when configured to direct all light onto the output channels. Environment 900 illustrates the amplitude and phase used to direct all light onto output channel 312d, assuming that all paths from the input to the beam splitter network 310 to all output channels 312a-d have the same length. The phase is relative, so any rotation of the same amount of phase across all channels results in all light remaining in the same output channel.

[0097] like Figure 9 As shown, phase shifter 306a is configured at 90 degrees, phase shifter 306b at 180 degrees, phase shifter 306c at 90 degrees, and phase shifter 306d at 0 degrees. The amplified signal at tap 309a is 100mW, the amplified signal at tap 309b is 100mW, the amplified signal at tap 309c is 100mW, and the amplified signal at tap 309d is 100mW. Under these conditions, the coherent signal generator produces a 400mW waveform (100mW + 100mW + 100mW + 100mW = 400mW) at output channel 312d, and 0mW waveforms at output channels 312a, 312b, and 312c.

[0098] Figure 10 This is a block diagram depicting an example environment of a coherent signal generator architecture, according to some embodiments, for coherent signal combination using multiple outputs for quasi-continuous-wave LiDAR operation. Environment 1000 includes a laser source 202 for providing an optical signal. Environment 1000 includes a modulator 204 for modulating the phase and / or frequency of the optical signal using continuous-wave (CW) modulation or quasi-CW modulation to generate a modulated signal.

[0099] Environment 1000 includes a phase shifter network for adjusting the phase of the modulated signal and providing the modulated signal to amplifier 1008. Phase shifter 1006 includes phase shifters 1006a, 1006b, 1006c, 1006d, 1006e, 1006f, 1006g, and 1006h; collectively referred to as "phase shifters 1006a-h".

[0100] Amplifier 1008 includes sub-amplifiers such as SOA 1008a, SOA 1008b, SOA 1008c, SOA 1008d, SOA 1008e, SOA 1008f, SOA 1008g, and SOA 1008h; collectively referred to as "SOA 1008a-h". Each sub-amplifier produces an amplified signal.

[0101] Environment 1000 includes a beam splitter network 1010, which generates an output waveform by combining some or all of the amplified signals based on the principles of constructive and destructive interference. The beam splitter network 1010 includes a beam splitter 1010a (in... Figure 10 The image shows "50 / 501010a" and beam splitter 1010b (in...). Figure 10 The image shows "50 / 50 1010b" and beam splitter 1010c (in...). Figure 10 The image shows "50 / 50 1010c" and beam splitter 1010d (in...). Figure 10 The image shows "50 / 501010d" and the beam splitter 1010e (in...). Figure 10 The display shows "50 / 50 1010e" and the beam splitter 1010f (in Figure 10 The image shows "50 / 50 1010f" and the beam splitter 1010g (in...). Figure 10 The image shows "50 / 50 1010g" and the beam splitter 1010h (in...). Figure 10 The image shows "50 / 50 1010h" and the beam splitter 1010i (in...). Figure 10 The image shows "50 / 501010i" and the beam splitter 1010j (in...). Figure 10 The image shows "50 / 50 1010j" and the beam splitter 1010k (in...). Figure 10 The image shows "50 / 50 1010k" and the beam splitter 1010l (in...). Figure 10 The image shows "50 / 50 1010l" and the beam splitter 1010m (in...). Figure 10 It is shown as “50 / 50 1010m”; collectively referred to as “beam splitter 1010a-m”.

[0102] Environment 1000 includes output channels 1012a, 1012b, 1012c, 1012d, 1012e, 1012f, 1012g, and 1012h; collectively referred to as "output channels 1012a-h". Although Figure 10 Only a selected number of components (e.g., laser source 202, modulator 204, phase shifters 1006a-h, SOA 1008a-h, and beam splitter 1010a-m) and output channels 1012a-h are shown, but those skilled in the art will understand that environment 1000 may include any number of components and / or output channels (in any combination) interconnected in any arrangement to facilitate the combination of coherent signals for quasi-continuous wave LIDAR operation.

[0103] The foregoing description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects. Therefore, the claims are not intended to be limited to the aspects shown herein, but are to be consistent with the full scope of the language of the claims, wherein references to elements in the singular form are not intended to mean “one and only one,” but rather “one or more,” unless specifically stated otherwise. Unless otherwise expressly stated, the term “some” means one or more. All structural and functional equivalents of elements throughout the various aspects described in the foregoing description that are known or will be known hereafter by a person skilled in the art are expressly incorporated herein by reference and are intended to be covered by the claims. Furthermore, nothing disclosed herein is intended to be offered to the public, whether or not such disclosure is expressly recited in the claims. Unless an element of a claim is expressly referenced using the phrase “means for…,” that element is not to be construed as means plus function.

[0104] It should be understood that the specific order or hierarchy of blocks in the disclosed process is an example of illustrative means. Based on design preferences, it is understood that the specific order or hierarchy of blocks in the process can be rearranged while remaining within the scope of the previously described. The appended method claims present the elements of various blocks in a sample order and are not intended to limit one to the specific order or hierarchy presented.

[0105] The prior description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the disclosed subject matter. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments without departing from the spirit or scope of the prior description. Therefore, the prior description is not intended to be limited to the embodiments shown herein, but is to be given the widest scope consistent with the principles and novel features disclosed herein.

[0106] The various examples illustrated and described are provided by way of example only to illustrate the various features of the claims. However, the features shown and described with respect to any given example are not necessarily limited to the associated example and can be used or combined with other examples shown and described. Furthermore, the claims are not intended to be limited by any single example.

[0107] The foregoing method descriptions and process flowcharts are provided as illustrative examples only and are not intended to require or imply that the blocks of the various examples must be performed in the presented order. As those skilled in the art will understand, the blocks in the foregoing examples can be performed in any order. Words such as “afterward,” “then,” “next,” etc., are not intended to restrict the order of the blocks; these words are merely used to guide the reader throughout the description of the method. Furthermore, any reference to a claim element in the singular form, such as using the articles “a,” “an,” or “the,” should not be construed as limiting the element to the singular form.

[0108] The various illustrative logic blocks, modules, circuits, and algorithm blocks described in conjunction with the examples disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and modules have been generally described above in terms of their functionality. Whether this functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the system as a whole. Skilled artisans can implement the described functionality in different ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0109] Hardware for implementing the various illustrative logic, logic blocks, modules, and circuits described herein can be implemented or executed using a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. Alternatively, some blocks or methods may be executed by circuitry specific to a given function.

[0110] In some exemplary examples, the described functionality can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions can be stored as one or more instructions or code on a non-transitory computer-readable storage medium or a non-transitory processor-readable storage medium. Blocks of methods or algorithms disclosed herein can be embodied in processor-executable software modules that may reside on non-transitory computer-readable or processor-readable storage media. A non-transitory computer-readable or processor-readable storage medium can be any storage medium accessible by a computer or processor. By way of example and not limitation, such a non-transitory computer-readable or processor-readable storage medium may include RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer. As used herein, optical discs and disks include compact discs (CDs), laser discs, optical discs, digital universal discs (DVDs), floppy disks, and Blu-ray discs, wherein disks typically reproduce data magnetically, while optical discs use lasers to reproduce data optically. Combinations of the above are also included within the scope of non-transitory computer-readable and processor-readable media. Additionally, the operation of a method or algorithm may reside as one or any combination or set of code and / or instructions on a non-transitory processor-readable storage medium and / or computer-readable storage medium, which may be incorporated into a program product in a computer.

[0111] The foregoing description of the disclosed examples is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these examples will be apparent to those skilled in the art, and the general principles defined herein can be applied to some examples without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not intended to be limited to the examples shown herein, but is to be accorded the widest scope consistent with the appended claims and the principles and novel features disclosed herein.

[0112] While the numerical ranges and parameters described herein are approximations, the numerical values ​​presented in the specific, non-limiting examples are reported as precisely as possible. However, any numerical value inherently contains some error, which necessarily arises from the standard deviation found in their respective test measurements at the time of writing. Furthermore, unless explicitly stated otherwise from the context, the numerical values ​​presented herein have an implied precision given by the least significant figure. Thus, the value 1.1 means a value from 1.05 to 1.15. The term “about” is used to indicate a wider range centered on a given value, and unless explicitly stated otherwise from the context, it means a wider range around the least significant figure, such as “about 1.1” meaning a range from 1.0 to 1.2. If the least significant figure is unclear, the term “about” means twice the coefficient; for example, “about X” means a value in the range from 0.5X to 2X, and for example, about 100 means a value in the range from 50 to 200. Moreover, all ranges disclosed herein should be understood to encompass any and all subranges contained therein. For example, the range of "less than 10" for only positive parameters can include (and include) any and all subranges between the minimum value of zero and the maximum value of 10, that is, any and all subranges with a minimum value equal to or greater than 0 and a maximum value equal to or less than 10 (e.g., 1 to 4).

[0113] Some embodiments of this disclosure are described below in the context of one or more high-resolution Doppler LiDAR systems mounted in areas of a personal vehicle (e.g., front, rear, side, top, and / or bottom); however, the embodiments are not limited to this context. In other embodiments, one or more systems of the same type or other high-resolution LiDARs are used, whether or not they have Doppler components, have overlapping or non-overlapping fields of view, or one or more such systems are mounted on smaller or larger land, sea, or air vehicles, whether manned or autonomous. In other embodiments, the scanning high-resolution LiDAR is mounted in a temporary or permanent fixed location on land or at sea.

Claims

1. A light detection and ranging (LIDAR) system, comprising: A laser, configured to output a beam; Amplifier, the amplifier being configured to: Receive multiple optical signals generated based on the beam and associated with multiple phases respectively, and Multiple amplified optical signals are generated based on the multiple optical signals; as well as An optical network coupled to the amplifier and multiple outputs, The optical network is configured as follows: Receive the multiple amplified optical signals, and A combined optical signal is generated at a specific output among the multiple outputs by splitting and recombining the multiple amplified optical signals via one or more beam splitters. The amplitude of the combined optical signal corresponds to the combined amplitude of the plurality of amplified optical signals split by the one or more beam splitters.

2. The LIDAR system according to claim 1, wherein, The first phase of the plurality of phases is different from the second phase of the plurality of phases.

3. The LIDAR system according to claim 1, wherein, The amplifier includes multiple sub-amplifiers, each of which is configured as follows: Receive one of the plurality of optical signals.

4. The LIDAR system according to claim 3, wherein, The optical network includes a plurality of beam splitters respectively coupled to one of the plurality of sub-amplifiers, wherein the plurality of beam splitters are respectively configured as follows: Receive one of the plurality of amplified optical signals.

5. The LIDAR system according to claim 3, wherein, The counts of the multiple outputs correspond to the counts of the multiple sub-amplifiers.

6. The LIDAR system according to claim 5, wherein, The multiple optical signals each correspond to a quasi-continuous wave signal.

7. The LIDAR system according to claim 1, wherein, The number of the multiple amplified optical signals is greater than or equal to four.

8. An autonomous vehicle control system, comprising one or more processors, in, The one or more processors are configured to: To make the laser output a beam; The amplifier receives multiple optical signals generated based on the light beam and associated with multiple phases respectively, and generates multiple amplified optical signals based on the multiple optical signals; An optical network receives the plurality of amplified optical signals, wherein the optical network is coupled to the amplifier and a plurality of outputs, and generates a combined optical signal at a specific output of the plurality of outputs by splitting and recombining the plurality of amplified optical signals via one or more beam splitters, wherein the amplitude of the combined optical signal corresponds to the combined amplitude of the plurality of amplified optical signals split by the one or more beam splitters; and The vehicle is operated based on the optical signal.

9. The autonomous vehicle control system according to claim 8, wherein, The first phase of the plurality of phases is different from the second phase of the plurality of phases.

10. The autonomous vehicle control system according to claim 8, wherein, The amplifier includes multiple sub-amplifiers. The one or more processors are configured to cause each of the plurality of sub-amplifiers to receive a corresponding one of the plurality of optical signals.

11. The automated vehicle control system according to claim 10, wherein, The optical network includes a plurality of beam splitters, each coupled to a corresponding one of the plurality of sub-amplifiers. The one or more processors are configured to cause each of the plurality of beam splitters to receive a corresponding one of the plurality of amplified optical signals.

12. The automated driving vehicle control system according to claim 10, wherein, The counts of the multiple outputs correspond to the counts of the multiple sub-amplifiers.

13. The automated driving vehicle control system according to claim 12, wherein, The multiple optical signals each correspond to a quasi-continuous wave signal.

14. The automated driving vehicle control system according to claim 8, wherein, The number of the multiple amplified optical signals is greater than or equal to four.

15. An autonomous vehicle, comprising: Light detection and ranging (LIDAR) systems include: A laser, configured to output a beam; Amplifier, the amplifier being configured to: Receive multiple optical signals generated based on the beam and associated with multiple phases respectively, and Multiple amplified optical signals are generated based on the multiple optical signals; An optical network coupled to the amplifier and multiple outputs, wherein the optical network is configured as follows: Receive the multiple amplified optical signals, and A combined optical signal is generated at a specific output of the plurality of outputs by splitting and recombining the plurality of amplified optical signals via one or more beam splitters, wherein the amplitude of the combined optical signal corresponds to the combined amplitude of the plurality of amplified optical signals split by the one or more beam splitters. At least one of the steering system and the braking system; and A vehicle controller, comprising one or more processors configured to control the operation of at least one of a steering system and a braking system based on the light signal.

16. The autonomous vehicle according to claim 15, wherein, The first phase of the plurality of phases is different from the second phase of the plurality of phases.

17. The autonomous vehicle according to claim 15, wherein, The amplifier includes multiple sub-amplifiers. The one or more processors are configured to cause each of the plurality of sub-amplifiers to receive a corresponding one of the plurality of optical signals.

18. The autonomous vehicle according to claim 17, wherein, The optical network includes a plurality of beam splitters, each coupled to a corresponding one of the plurality of sub-amplifiers. The one or more processors are configured to cause each of the plurality of beam splitters to receive a corresponding one of the plurality of amplified optical signals.

19. The autonomous vehicle according to claim 17, wherein, The counts of the multiple outputs correspond to the counts of the multiple sub-amplifiers.

20. The autonomous vehicle according to claim 19, wherein, The multiple optical signals each correspond to a quasi-continuous wave signal.

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