Control of autonomous vehicles based on environmental object classification determined using phase coherence LiDAR data

Abstract

This invention relates to the control of autonomous vehicles based on environmental object classification determined using phase-coherent LiDAR data. The classification of objects in the environment of an autonomous vehicle is determined, and the vehicle is controlled based on the determined classification. For example, the autonomous steering, acceleration, and / or deceleration of the vehicle can be controlled based on the determined attitude and / or classification of objects in the environment. This control can be determined directly based on attitude and / or classification, and / or based on the motion parameters of the objects. In many embodiments, the attitude and / or classification of environmental objects are determined based on data from phase-coherent optical detection and ranging (LIDAR) components of the vehicle, such as phase-coherent LiDAR monopulse components and / or frequency-modulated continuous wave (FMCW) LiDAR components.

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