Selective operation of sensing unit of lidar system

Abstract

A laser radar system includes optics configured to (a) transmit a transmit signal using a scanner and (b) receive reflections from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the laser radar system; a sensing unit including a plurality of sensing elements; and a controller arranged to (a) activate the plurality of sensing elements prior to starting to receive the reflection, and (b) selectively deactivate at least some of the plurality of sensing elements based on a scan direction of the scan section, thereby reducing the number of active sensing elements during a scan section time window.

Description

[0001] Cross-references

[0002] This application claims priority to U.S. Provisional Patent Serial No. 63 / 380,052, filed on October 18, 2022, the entire contents of which are incorporated herein.

[0003] This application claims priority to U.S. Provisional Patent Serial No. 63 / 386,5000, filed on December 8, 2022, the entire contents of which are incorporated herein. Technical Field

[0004] The present disclosure relates generally to surveying techniques for scanning a surrounding environment, and more particularly, to systems and methods for detecting objects in a surrounding environment using laser radar (LIDAR) technology. Background Art

[0005] With the advent of driver assistance systems and autonomous vehicles, cars need to be equipped with systems that can reliably sense and interpret their surroundings, including identifying obstacles, hazards, objects, and other physical parameters that may affect the vehicle's navigation. To this end, many different technologies have been proposed, including radar, lidar, and camera-based systems operating alone or in a redundant manner.

[0006] One consideration for driver assistance systems and autonomous vehicles is the system's ability to determine the surrounding environment in different conditions including rain, fog, darkness, bright light, and snow. Light detection and ranging systems (Lidar, also known as LADAR) are examples of technologies that can work well in different conditions by measuring the distance to an object by illuminating the object with light and measuring the reflected pulses with a sensor. A laser is an example of a light source that can be used in a Lidar system. As with any sensing system, in order for Lidar-based sensing systems to be fully adopted by the automotive industry, the system should provide reliable data that enables detection of distant objects.

[0007] The systems and methods of the present disclosure are directed to improving the performance of lidar systems. Summary of the invention

[0008] Methods, lidar systems, and non-transitory computer-readable media substantially as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various disclosed embodiments. In the drawings:

[0010] Figure 1 An example of a LiDAR system is shown;

[0011] Figure 2 and Figure 3Various configurations of the projection unit in the laser radar system and their functions are shown;

[0012] Figure 4 is a cross-section of a portion of the sensor;

[0013] Figure 5 and Figure 6 Describes various configurations of sensing units in a lidar system and their roles;

[0014] Figure 7-Figure 8 An example of a LiDAR is shown;

[0015] Fig. 9 An example of an array of sensing element circuitry, readout circuitry, and horizontally aligned receiving windows is shown;

[0016] Fig.10 An example of an array of sensing element circuits, readout circuits, and horizontally misaligned receiving windows is shown;

[0017] Fig.11 Examples of sensing element circuits, sets of horizontally shifted elements, and arrays of horizontally misaligned receive windows are shown;

[0018] Fig.12 An example of an array of sense element circuits, horizontal shift element sets, multiple rows of output lines, and horizontally misaligned receive windows is shown;

[0019] Fig.13 Examples of sensing element circuits and level shifting elements are shown;

[0020] Fig.14 Examples of sensing element circuits and level shifting elements are shown;

[0021] Fig.15 An example of the relationship between the distance of a target from the lidar, the rotation of the polygon, and the horizontal position of the target within the receiving window is shown;

[0022] Fig.16 An aligned scene and a misaligned scene are shown;

[0023] Fig.17 A side A sensing element circuit and a side B sensing element circuit are shown;

[0024] Fig.18 are examples of reduced sensing windows at different points in time;

[0025] Fig.19 is an example of a sensing unit and additional circuitry;

[0026] Fig. 20 is an example of a sensing unit and additional circuitry;

[0027] Fig.21 is an example of a sensing unit;

[0028] Fig. 22 is an example of a sensing unit;

[0029] Fig.23 is an example of a row of reflecting and sensing element groups at different points in time;

[0030] Fig.24 are examples of sets of reflecting and sensing elements at different points in time;

[0031] Fig.25 are examples of sets of reflecting and sensing elements at different points in time;

[0032] Fig.26 is an example of a set of sensing elements at different points in time;

[0033] Fig. 27 is an example of a set of sensing elements at different points in time;

[0034] Fig.28 are examples of sets of reflecting and sensing elements at different points in time;

[0035] Fig.29 are examples of sets of reflecting and sensing elements at different points in time;

[0036] Fig.30 is an example of a method;

[0037] Fig.31 is an example of a LiDAR system;

[0038] Fig.32 is an example of a method;

[0039] Fig.33 is an example of a LiDAR system;

[0040] Fig.34 is an example of a scan mode and scan segment time window;

[0041] Fig.35 is an example of a method; and

[0042] Fig.36 is an example of a method. DETAILED DESCRIPTION

[0043] The accompanying drawings, which are incorporated in and constitute a part of the present disclosure, illustrate various disclosed embodiments. The following detailed description refers to the drawings. Where possible, the same reference numerals are used in the drawings and the following description to represent the same or similar parts. Although several illustrative embodiments are described herein, modifications, adaptations, and other embodiments are possible. For example, the components shown in the drawings may be replaced, added, or modified, and the illustrative methods described herein may be modified by replacing, reordering, removing, or adding steps to the disclosed methods. Therefore, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the appropriate scope is defined by the appended claims.

[0044] Definition of terms

[0045] The disclosed embodiments may relate to optical systems. As used herein, the term "optical system" broadly includes any system for generating, detecting and / or manipulating light. By way of example only, an optical system may include one or more optical components for generating, detecting and / or manipulating light. For example, a light source, a lens, a reflector, a prism, a beam splitter, a collimator, a polarization optical device, an optical modulator, an optical switch, an optical amplifier, an optical detector, an optical sensor, an optical fiber, a semiconductor optical component, each of which may be part of an optical system, although not necessarily required. In addition to one or more optical components, an optical system may also include other non-optical components, such as electrical components, mechanical components, chemical reaction components, and semiconductor components. Non-optical components may cooperate with optical components of an optical system. For example, an optical system may include at least one processor for analyzing detected light.

[0046] Consistent with the present disclosure, the optical system may be a lidar system. As used herein, the term "lidar system" broadly includes any system that can determine the value of a parameter indicating the distance between a pair of tangible objects based on reflected light. In one embodiment, a lidar system may determine the distance between a pair of tangible objects based on reflections of light emitted by the lidar system. As used herein, the term "determining the distance" broadly includes generating an output indicating the distance between a pair of tangible objects. The determined distance may represent a physical size between a pair of tangible objects. By way of example only, the determined distance may include a flight line distance between the lidar system and another tangible object in the field of view of the lidar system. In another embodiment, the lidar system may determine the relative velocity between a pair of tangible objects based on reflections of light emitted by the lidar system. Examples of output indicating the distance between a pair of tangible objects include: a number of standard units of length between the tangible objects (e.g., meters, inches, kilometers, millimeters), a number of arbitrary units of length (e.g., a number of lidar system lengths), a ratio of a distance to another length (e.g., a ratio to the length of an object detected in the lidar system's field of view), an amount of time (e.g., given as standard units, arbitrary units, or a ratio, such as the time it takes light to travel between the tangible objects), one or more positions (e.g., specified using an agreed upon coordinate system, specified relative to a known position), etc.

[0047] A laser radar system can determine the distance between a pair of tangible objects based on reflected light. In one embodiment, the laser radar system can process the detection results of a sensor that generates time information indicating the time period between the emission of a light signal and the time when the sensor detects the light signal. This time period is sometimes referred to as the "flight time" of the light signal. In one example, the light signal can be a short pulse whose rise and / or fall time can be detected in reception. Using known information about the speed of light in the relevant medium (usually air), information about the flight time of the light signal can be processed to provide the distance traveled by the light signal between emission and detection. In another embodiment, the laser radar system can determine the distance based on a frequency phase shift (or multi-frequency phase shift). Specifically, the laser radar system can process information indicating one or more modulation phase shifts of the light signal (e.g., by solving some simultaneous equations to give a final measurement). For example, the emitted optical signal can be modulated with one or more constant frequencies. At least one phase shift of the modulation between the emitted signal and the detected reflection can indicate the distance traveled by the light between emission and detection. Modulation can be applied to a continuous wave light signal, a quasi-continuous wave light signal, or another type of emitted light signal. Note that the lidar system can use additional information to determine distance, such as the projection location, position information between the detection locations of the signal (especially if they are far away from each other) (e.g., relative positioning), etc.

[0048] In some embodiments, a lidar system may be used to detect multiple objects in an environment of the lidar system. The term "detecting an object in an environment of a lidar system" broadly includes generating information indicating an object reflecting light toward a detector associated with the lidar system. If the lidar system detects more than one object, the information generated about the different objects may be related, such as a car driving on a road, a bird sitting on a tree, a person touching a bicycle, a truck moving toward a building. The size of the environment in which the lidar system detects objects may vary relative to the implementation. For example, a lidar system may be used to detect multiple objects in an environment of a vehicle on which the lidar system is installed, up to a horizontal distance of 100m (or 200m, 300m, etc.), and up to a vertical distance of 10m (or 25m, 50m, etc.). In another example, a lidar system can be used to detect multiple objects in the vehicle's environment or within a predetermined horizontal range (e.g., 25°, 50°, 100°, 180°, etc.) and up to a predetermined vertical elevation (e.g., ±10°, ±20°, +40°-20°, ±90°, or 0°-90°).

[0049] As used herein, the term "detecting an object" may broadly refer to determining the presence of an object (e.g., an object may exist in a certain direction relative to a lidar system and / or another reference location, or an object may exist in a certain volume of space). Additionally or alternatively, the term "detecting an object" may refer to determining the distance between an object and another location (e.g., the location of a lidar system, a location on the earth, or a location of another object). Additionally or alternatively, the term "detecting an object" may refer to identifying an object (e.g., classifying the type of object such as a car, plant, tree, road; identifying a specific object (e.g., the Washington Monument); determining a license plate number; determining the composition of an object (e.g., solid, liquid, transparent, translucent); determining kinematic parameters of an object (e.g., whether it is moving, its speed, its direction of movement, expansion of the object). Additionally or alternatively, the term "detecting an object" may refer to generating a point cloud map, wherein each of one or more points of the point cloud map corresponds to a location in the object or a location on its face. In one embodiment, the data resolution associated with the point cloud map representation of the field of view may be associated with 0.1°×0.1° or 0.3°×0.3° of the field of view.

[0050] Consistent with the present disclosure, the term "object" broadly includes a finite composition of matter from which at least a portion of light can be reflected. For example, an object can be at least partially solid (e.g., a car, a tree); at least partially liquid (e.g., a puddle on a road, rain); at least partially gaseous (e.g., smoke, a cloud); made of a large number of different particles (e.g., a dust storm, fog, spray); and can have one or more magnitude scales, such as ~1 millimeter (mm), ~5mm, ~10mm, ~50mm, ~100mm, ~500mm, ~1 meter (m), ~5m, ~10m, ~50m, ~100m, etc. Smaller or larger objects and any size between those examples can also be detected. It should be noted that for various reasons, a lidar system may detect only a portion of an object. For example, in some cases, light may be reflected from only some sides of an object (e.g., only the side opposite the lidar system will be detected); in other cases, light may be projected onto only a portion of an object (e.g., a laser beam projected onto a road or building); in other cases, the object may be partially obscured by another object between the lidar system and the detected object; in other cases, the lidar's sensor may detect light reflected from only a portion of an object, for example, because ambient light or other interference interferes with detection of some portions of the object.

[0051] Consistent with the present disclosure, a lidar system may be configured to detect an object by scanning the environment of the lidar system. The term "scanning the environment of the lidar system" broadly includes illuminating the field of view or a portion of the field of view of the lidar system. In one example, scanning the environment of the lidar system may be achieved by moving or pivoting a light deflector to deflect light in different directions toward different portions of the field of view. In another example, scanning the environment of the lidar system may be achieved by changing the positioning (i.e., position and / or orientation) of a sensor relative to the field of view. In another example, scanning the environment of the lidar system may be achieved by changing the positioning (i.e., position and / or orientation) of a light source relative to the field of view. In yet another example, scanning the environment of the lidar system may be achieved by changing the positioning of at least one light source and at least one sensor to move rigidly relative to the field of view (i.e., the relative distance and orientation of at least one sensor and at least one light source are maintained).

[0052] As used herein, the term "field of view of a lidar system" may broadly include the range of the observable environment of the lidar system in which objects can be detected. Note that the field of view (FOV) of a lidar system may be affected by various conditions, such as, but not limited to: the orientation of the lidar system (e.g., the direction of the optical axis of the lidar system); the positioning of the lidar system relative to the environment (e.g., the distance above the ground and adjacent terrain and obstacles); the operating parameters of the lidar system (e.g., transmit power, computing settings, defined operating angles), etc. The field of view of a lidar system may be defined, for example, by a solid angle (e.g., defined using φ, θ angles, where φ and θ are angles defined in a vertical plane, e.g., relative to an axis of symmetry of the lidar system and / or its FOV). In one example, the field of view may also be defined within a certain range (e.g., up to 200m).

[0053] Similarly, the term "instantaneous field of view" can broadly include the range of observable environments in which the laser radar system can detect objects at any given moment. For example, for a scanning laser radar system, the instantaneous field of view is narrower than the entire FOV of the laser radar system, and it can be moved within the FOV of the laser radar system so as to be able to detect in other parts of the FOV of the laser radar system. The movement of the instantaneous field of view within the FOV of the laser radar system can be achieved by moving the light deflector of the laser radar system (or the laser radar system) to deflect the light beam to and / or from the laser radar system in different directions. In one embodiment, the laser radar system can be configured to scan the scene in the environment in which the laser radar system operates. As used herein, the term "scene" can broadly include some or all objects whose relative positioning and current state are within the field of view of the laser radar system during the operating duration of the laser radar system. For example, a scene can include ground elements (e.g., earth, road, grass, sidewalk, road surface markings), sky, man-made objects (e.g., vehicles, buildings, signs), vegetation, people, animals, light projection elements (e.g., flashlights, sun, other laser radar systems), etc.

[0054] Any reference to the term “actuator” should be applied mutatis mutandis to the term “manipulator.” Non-limiting examples of manipulators include micro-electromechanical systems (MEMS) actuators, voice coil magnets, motors, piezoelectric elements, etc. It should be noted that the manipulator may be incorporated with the temperature control unit.

[0055] The disclosed embodiments may involve obtaining information for generating a reconstructed three-dimensional model. Examples of the types of reconstructed three-dimensional models that can be used include point cloud models and polygonal meshes (e.g., triangle meshes). The terms "point cloud" and "point cloud model" are widely known in the art and should be interpreted as including a set of data points that are spatially located in a certain coordinate system (i.e., have an identifiable position in the space described by the corresponding coordinate system). The term "point cloud point" refers to a point in space (which can be dimensionless, or microcellular space, such as 1 cm3), and its position can be described by the point cloud model using a coordinate set (e.g., (X, Y, Z), (r, , θ)). By way of example only, a point cloud model may store additional information for some or all of its points (e.g., color information for the points generated from a camera image). Similarly, any other type of reconstructed three-dimensional model may store additional information for some or all of its objects. Similarly, the terms "polygonal mesh" and "triangular mesh" are widely known in the art and should be interpreted as including a collection of vertices, edges, and faces that define the shape of one or more 3D objects (such as a polyhedral object), etc. The face may include one or more of the following: triangles (triangular meshes), quadrilaterals, or other simple convex polygons, as this can simplify rendering. The face may also include more general concave polygons or polygons with holes. The polygonal mesh may be represented using different techniques, such as: vertex-vertex meshes, face-vertex meshes, wing-edge meshes, and rendering dynamic meshes. Different parts of the polygonal mesh (e.g., vertices, faces, edges) are spatially located in a certain coordinate system directly and / or relative to each other (i.e., have identifiable positions in the space described by the corresponding coordinate system). The generation of the reconstructed three-dimensional model can be implemented using any standard, specialized, and / or novel photogrammetric techniques, many of which are known in the art. Note that the LiDAR system can generate other types of environment models.

[0056] Consistent with the disclosed embodiments, the laser radar system may include at least one projection unit having a light source configured to project light. As used herein, the term "light source" refers broadly to any device configured to emit light. In one embodiment, the light source may be a laser, such as a solid-state laser, a laser diode, a high-power laser, or an alternative light source, such as a light source based on a light emitting diode (LED). In addition, the light source 112 shown throughout the drawings may emit light of different formats, such as light pulses, continuous waves (CW), quasi-CW, etc. For example, one type of light source that may be used is a vertical cavity surface emitting laser (VCSEL). Another type of light source that may be used is an external cavity diode laser (ECDL). In some examples, the light source may include a laser diode configured to emit light having a wavelength between about 650nm and 1150nm. Alternatively, the light source may include a laser diode configured to emit light having a wavelength between about 800nm ​​and about 1000nm, between about 850nm and about 950nm, or between about 1300nm and about 1600nm. Unless otherwise indicated, the term "about" with respect to a numerical value is defined as a variance of up to 5% relative to the stated value. Figure 2 and Figure 3 Reference is made to PCT patent application PCT / IB2020 / 055283 publication number WO2020 / 245767 Figure 2 A-2C describes additional details of the projection unit and at least one light source, and this PCT patent application is incorporated herein by reference.

[0057] Consistent with the disclosed embodiments, the laser radar system may include at least one scanning unit having at least one optical deflector configured to deflect light from a light source so as to scan a field of view. The term "optical deflector" broadly includes any mechanism or module configured to deflect light from its original path; for example, a mirror, a prism, a controllable lens, a mechanical mirror, a mechanical scanning polygon, an active diffraction (e.g., a controllable LCD), a Risley prism, a non-mechanical electro-optical beam guide (e.g., manufactured by Vscent), a polarization grating (such as provided by Boulder Nonlinear Systems), an optical phased array (OPA), etc. In one embodiment, the optical deflector may include multiple optical components, such as at least one reflective element (e.g., a mirror), at least one refractive element (e.g., a prism, a lens), etc. In one example, the optical deflector may be movable to deflect the light to different degrees (e.g., discrete degrees or across a continuous span of degrees). The light deflector may optionally be controllable in different ways (e.g., deflect by a degree α, change the deflection angle by Δα, move a component of the light deflector by M millimeters, change the speed at which the deflection angle changes). In addition, the light deflector may optionally be operable to change the deflection angle within a single plane (e.g., the θ coordinate). The light deflector may optionally be operable to change the deflection angle within two non-parallel planes (e.g., the θ and coordinates). Alternatively or additionally, the optical deflector may be optionally operable to vary the deflection angle between predetermined settings (e.g., along a predefined scanning route) or otherwise. With respect to the use of optical deflectors in lidar systems, it should be noted that the optical deflector may be used in an outbound direction (also referred to as a transmit direction or TX) to deflect light from a light source to at least a portion of the field of view. However, the optical deflector may also be used in an inbound direction (also referred to as a receive direction or RX) to deflect light from at least a portion of the field of view to one or more optical sensors. Reference is made below to PCT patent application PCT / IB2020 / 055283 publication number WO2020 / 245767 Figure 3 A-3C describes additional details regarding the scanning unit and at least one light deflector, and this PCT patent application is incorporated herein by reference.

[0058] The disclosed embodiments may involve pivoting an optical deflector in order to scan a field of view. As used herein, the term "pivoting" broadly includes the rotation of an object (particularly a solid object) about one or more rotational axes while substantially keeping the center of rotation fixed. In one embodiment, the pivoting of the optical deflector may include the rotation of the optical deflector about a fixed axis (e.g., a shaft), but not necessarily. For example, in some MEMS mirror embodiments, the MEMS mirror may be moved by actuating a plurality of benders connected to the mirror, and the mirror may undergo some spatial translation in addition to rotation. However, such a mirror may be designed to rotate about a substantially fixed axis, and therefore consistent with the present disclosure, it is considered to be pivoting. In other embodiments, some types of optical deflectors (e.g., non-mechanical electro-optical beam steering (OPA)) do not require any moving components or internal movement to change the deflection angle of the deflected light. Note that any discussion related to moving or pivoting an optical deflector also applies, with appropriate modifications, to controlling the optical deflector so that it changes the deflection behavior of the optical deflector. For example, controlling a light deflector may cause a change in the deflection angle of a light beam arriving from at least one direction.

[0059] The disclosed embodiments may involve receiving a reflection associated with a portion of a field of view corresponding to a single instantaneous position of an optical deflector. As used herein, the term "instantaneous position of an optical deflector" (also referred to as "the state of an optical deflector") broadly refers to the position or location in space where at least one controlled component of the optical deflector is located at an instantaneous point in time or within a short time span. In one embodiment, the instantaneous position of the optical deflector may be measured relative to a reference frame. The reference frame may relate to at least one fixed point in the lidar system. Or, for example, the reference frame may relate to at least one fixed point in the scene. In some embodiments, the instantaneous position of the optical deflector may include some movement of one or more components (e.g., mirrors, prisms) of the optical deflector, typically to a limited number of degrees relative to the maximum degree of change during a scan of the field of view. For example, a scan of the entire field of view of the lidar system may include changing the deflection of light over a span of 30°, and the instantaneous position of at least one optical deflector may include an angular displacement of the optical deflector within 0.05°. In other embodiments, the term "instantaneous position of an optical deflector" may refer to the position of an optical deflector during the acquisition of light that is processed to provide data for a single point of a point cloud (or another type of 3D model) generated by a lidar system. In some embodiments, the instantaneous position of an optical deflector may correspond to a fixed position or orientation in which the deflector is paused for a short time during illumination of a particular sub-area of ​​the lidar field of view. In other cases, the instantaneous position of an optical deflector may correspond to a certain position / orientation along a scanning range of the position / orientation of the optical deflector that the optical deflector traverses as part of a continuous or semi-continuous scan of the lidar field of view. In some embodiments, the optical deflector may be moved so that during a scanning cycle of the lidar FOV, the optical deflector is located at a plurality of different instantaneous positions. In other words, the deflector may move through a series of different instantaneous positions / orientations during the time period in which the scanning cycle occurs, and the deflector may reach each different instantaneous position / orientation at a different time during the scanning cycle.

[0060] Consistent with the disclosed embodiments, a lidar system may include at least one sensing unit having at least one sensor configured to detect reflections from an object in a field of view. The term "sensor" broadly includes any device, element, or system capable of measuring a characteristic of an electromagnetic wave (e.g., power, frequency, phase, pulse timing, pulse duration) and generating an output related to the measured characteristic. In some embodiments, the at least one sensor may include a plurality of detectors consisting of a plurality of detection elements. The at least one sensor may include one or more types of light sensors. Note that at least one sensor may include a plurality of sensors of the same type, which may differ in other characteristics (e.g., sensitivity, size). Other types of sensors may also be used. Combinations of several types of sensors may be used for different reasons, such as improving detection over a range span (particularly in close range); improving the dynamic range of the sensor; improving the temporal response of the sensor; and improving detection in changing environmental conditions (e.g., atmospheric temperature, rainfall, etc.).

[0061] In one embodiment, at least one sensor includes a SiPM (silicon photomultiplier), which is a solid-state single-photon sensitive device built from an array of avalanche photodiodes (APDs), single-photon avalanche diodes (SPADs), used as detection elements on a common silicon substrate. In one example, the typical distance between SPADs can be between about 10 μm and about 50 μm, where each SPAD can have a recovery time between about 20 ns and about 100 ns. Similar photomultipliers from other non-silicon materials can also be used. Although SiPM devices operate in digital / switching mode, SiPMs are analog devices because all microcells can be read in parallel, making it possible to generate signals over a dynamic range from a single photon to hundreds and thousands of photons detected by different SPADs. Note that the outputs from different types of sensors (e.g., SPADs, APDs, SiPMs, PIN diodes, photodetectors) can be combined together into a single output that can be processed by the processor of the lidar system. Reference is made below to the present application Figure 4 and Figure 5 Reference is made to PCT patent application PCT / IB2020 / 055283 publication number WO2020 / 245767 Figure 4 A- Figure 4 C describes additional details of the sensing unit and at least one sensor, and this PCT patent application is incorporated herein by reference.

[0062] Consistent with the disclosed embodiments, the laser radar system may include or communicate with at least one processor configured to perform different functions. The at least one processor may constitute any physical device having an electronic circuit that performs a logical operation on one or more inputs. For example, the at least one processor may include one or more integrated circuits (ICs), including application specific integrated circuits (ASICs), microchips, microcontrollers, microprocessors, all or part of a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), or other circuits suitable for executing instructions or performing logical operations. The instructions executed by the at least one processor may be preloaded into a memory integrated with or embedded in the controller, for example, or may be stored in a separate memory. The memory may include a random access memory (RAM), a read-only memory (ROM), a hard disk, an optical disk, a magnetic medium, a flash memory, other permanent, fixed or volatile memory, or any other mechanism capable of storing instructions. In some embodiments, the memory is configured to store information representing data about an object in the environment of the laser radar system. In some embodiments, the at least one processor may include more than one processor. Each processor may have a similar configuration, or the processors may have different configurations that are electrically connected or disconnected from each other. For example, the processors may be separate circuits or integrated in a single circuit. When more than one processor is used, the processors may be configured to operate independently or collaboratively. The processors may be coupled electrically, magnetically, optically, acoustically, mechanically, or by other means that allow them to interact. Figure 6 Reference is made to PCT patent application PCT / IB2020 / 055283 publication number WO2020 / 245767 Figure 5 A- Figure 5 C describes additional details regarding the processing unit and at least one processor, and this PCT patent application is incorporated herein by reference.

[0063] Figure 1A lidar system 100 is shown, which includes a projection unit 102, a scanning unit 104, a sensing unit 106, and a processing unit 108. The lidar system 100 can be mounted on a vehicle 110. Consistent with embodiments of the present disclosure, the projection unit 102 can include at least one light source 112, the scanning unit 104 can include at least one light deflector 114, the sensing unit 106 can include at least one sensor 116, and the processing unit 108 can include at least one processor 118. In one embodiment, the at least one processor 118 can be configured to coordinate the operation of the at least one light source 112 with the movement of the at least one light deflector 114 in order to scan a field of view 120. During a scanning cycle, each instantaneous position of the at least one light deflector 114 can be associated with a particular portion 122 of the field of view 120. In addition, the lidar system 100 can include at least one optional optical window 124 for directing light projected toward the field of view 120 and / or receiving light reflected from objects in the field of view 120. The optional optical window 124 can be used for different purposes, such as collimation of projected light and focusing of reflected light. In one embodiment, the optional optical window 124 may be an opening, a flat window, a lens, or any other type of optical window.

[0064] Consistent with the present disclosure, the lidar system 100 can be used in autonomous or semi-autonomous road vehicles (e.g., cars, buses, vans, trucks, and any other land vehicles). An autonomous road vehicle with a lidar system 100 can scan its environment and drive to the destination vehicle without human input. Similarly, the lidar system 100 can also be used in autonomous / semi-autonomous aircraft (e.g., UAVs, drones, quadcopters, and any other airborne vehicles or equipment); or in autonomous or semi-autonomous watercraft (e.g., boats, ships, submarines, or any other vessels). Autonomous aircraft and watercraft with a lidar system 100 can scan their environment and navigate to the destination autonomously or using a remote human operator. According to one embodiment, a vehicle 110 (road vehicle, aircraft, or vessel) can use a lidar system 100 to help detect and scan the environment in which the vehicle 110 is operating.

[0065] It should be noted that the lidar system 100 or any of its components can be used with any of the example embodiments and methods disclosed herein. In addition, although some aspects of the lidar system 100 are described with respect to an exemplary vehicle-based lidar platform, the lidar system 100, any of its components, or any of the processes described herein can be applicable to lidar systems of other platform types.

[0066] In some embodiments, the lidar system 100 may include one or more scanning units 104 to scan the environment around the vehicle 110. The lidar system 100 may be attached or mounted to any portion of the vehicle 110. The sensing unit 106 may receive reflections from the surrounding environment of the vehicle 110 and transmit a reflection signal indicating light reflected from an object in the field of view 120 to the processing unit 108. Consistent with the present disclosure, the scanning unit 104 may be mounted to or incorporated into a bumper, fender, side panel, spoiler, roof, headlight assembly, taillight assembly, rearview mirror assembly, hood, trunk, or any other suitable portion of the vehicle 110 that is capable of accommodating at least a portion of the lidar system. In some cases, the lidar system 100 may capture a complete surround view of the environment of the vehicle 110. Thus, the lidar system 100 may have a 360 degree horizontal field of view. In one example, as Figure 1 As shown, the laser radar system 100 may include a single scanning unit 104 mounted on the roof of the vehicle 110. Alternatively, the laser radar system 100 may include multiple scanning units (e.g., two, three, four or more scanning units 104), each scanning unit having a field of view such that the overall horizontal field of view is covered by a 360-degree scan around the vehicle 110. Those skilled in the art will appreciate that the laser radar system 100 may include any number of scanning units 104 arranged in any manner, each scanning unit 104 having a field of view of 80° to 120° or less, depending on the number of units employed. In addition, a 360-degree horizontal field of view may also be obtained by mounting multiple laser radar systems 100 on the vehicle 110, each laser radar system 100 having a single scanning unit 104. However, it should be noted that one or more laser radar systems 100 do not have to provide a full 360° field of view, and in some situations, a narrower field of view may be useful. For example, a vehicle 110 may require a first lidar system 100 with a 75° field of view to look forward of the vehicle, and may require a second lidar system 100 with a similar FOV to look backward (optionally with a lower detection range). Note also that different vertical field of view angles may also be implemented.

[0067] Projection unit

[0068] Figure 2 and Figure 3 Various configurations and functions of the projection unit 102 in the laser radar system 100 are described. Specifically, Figure 2 is a diagram showing a projection unit 102 having a single light source; Figure 31 is a diagram showing multiple projection units 102 with multiple light sources aimed at a common light deflector 114. Those skilled in the art will appreciate that the depicted configuration of the projection unit 102 may have many variations and modifications. Non-limiting examples are described in PCT Patent Application PCT / IB2020 / 055283 Publication No. WO2020 / 245767. Figure 2 C- Figure 2 G, which PCT patent application is incorporated herein by reference.

[0069] Figure 2 An example of a bi-static configuration of the lidar system 100 is shown, wherein the projection unit 102 includes a single light source 112. The term "bi-static configuration" broadly refers to a lidar system configuration in which the projected light leaving the lidar system and the reflected light entering the lidar system traverse substantially different optical paths. In some embodiments, the bi-static configuration of the lidar system 100 can include separating the optical paths by using completely different optical components, by using parallel but not completely separated optical components, or by using the same optical components for only a portion of the optical paths (the optical components can include, for example, windows, lenses, mirrors, beam splitters, etc.). Figure 2 In the example shown in A, the dual-static configuration includes a configuration in which outbound light and inbound light pass through a single optical window 124, but the scanning unit 104 includes two light deflectors, a first light deflector 114A for outbound light and a second light deflector 114B for inbound light (inbound light in a lidar system includes emitted light reflected from objects in the scene and may also include ambient light arriving from other sources).

[0070] In this embodiment, all components of the lidar system 100 may be contained within a single housing 200, or may be divided between multiple housings. As shown, the projection unit 102 is associated with a single light source 112, which includes a laser diode 202A (or one or more laser diodes coupled together) configured to emit light (projected light 204). In a non-limiting example, the light projected by the light source 112 may be at a wavelength between about 800nm ​​and 950nm, have an average power between about 50mW and about 500mW, have a peak power between about 50W and about 200W, and a pulse width between about 2ns and about 100ns. In addition, the light source 112 may optionally be associated with an optical component 202B for manipulating the light emitted by the laser diode 202A (e.g., for collimation, focusing, etc.). Note that other types of light sources 112 may be used, and the present disclosure is not limited to laser diodes. In addition, the light source 112 can emit its light in different formats, such as light pulses, frequency modulation, continuous wave (CW), quasi-CW, or any other form corresponding to the specific light source employed. The projection format and other parameters can be changed from time to time by the light source based on different factors, such as instructions from the processing unit 108. The projected light is projected toward the outbound deflector 114A, which acts as a guide element for guiding the projected light in the field of view 120. In this example, the scanning unit 104 also includes a pivotable return deflector 114B, which guides the photons (reflected light 206) reflected back from the object 208 within the field of view 120 toward the sensor 116. The reflected light is detected by the sensor 116, and information about the object (e.g., the distance to the object 212) is determined by the processing unit 108.

[0071] In this figure, the laser radar system 100 is connected to a host 210. Consistent with the present disclosure, the term "host" refers to any computing environment that can interface with the laser radar system 100, which can be a vehicle system (e.g., part of the vehicle 110), a test system, a safety system, a surveillance system, a traffic control system, an urban modeling system, or any system that monitors its surroundings. Such a computing environment may include at least one processor and / or may be connected to the laser radar system 100 via a cloud. In some embodiments, the host 210 may also include an interface to external devices, such as cameras and sensors configured to measure different characteristics of the host 210 (e.g., acceleration, steering wheel deflection, reverse drive, etc.). Consistent with the present disclosure, the laser radar system 100 may be fixed to a stationary object associated with the host 210 (e.g., a building, a tripod) or a portable system associated with the host 210 (e.g., a portable computer, a movie camera). Consistent with the present disclosure, the laser radar system 100 may be connected to the host 210 to provide the output of the laser radar system 100 (e.g., a 3D model, a reflectivity image) to the host 210. Specifically, the host 210 can use the lidar system 100 to help detect and scan the environment of the host 210 or any other environment. In addition, the host 210 can merge, synchronize, or otherwise use the output of the lidar system 100 with the output of other sensing systems (e.g., cameras, microphones, radar systems). In one example, the lidar system 100 can be used by a security system.

[0072] The laser radar system 100 may also include a bus 212 (or other communication mechanism) that interconnects the subsystems and components for transmitting information within the laser radar system 100. Optionally, the bus 212 (or another communication mechanism) may be used to interconnect the laser radar system 100 with a host computer 210. Figure 2 In the example of FIG. 1A, the processing unit 108 includes two processors 118 to adjust the operation of the projection unit 102, the scanning unit 104, and the sensing unit 106 in a coordinated manner based at least in part on information received from internal feedback of the lidar system 100. In other words, the processing unit 108 can be configured to dynamically operate the lidar system 100 in a closed loop. A closed-loop system is characterized by having feedback from at least one element and updating one or more parameters based on the received feedback. In addition, the closed-loop system can receive feedback and update its own operation based at least in part on the feedback. A dynamic system or element is a system or element that can be updated during operation.

[0073] According to some embodiments, scanning the environment around the laser radar system 100 may include illuminating the field of view 120 with light pulses. The light pulses may have parameters such as pulse duration, pulse angle dispersion, wavelength, instantaneous power, photon density at different distances from the light source 112, average power, pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase, polarization, etc. Scanning the environment around the laser radar system 100 may also include detecting and characterizing various aspects of reflected light. The characteristics of the reflected light may include, for example: flight time (i.e., time from emission until detection), instantaneous power (e.g., power signature), average power over the entire return pulse, and photon distribution / signal over the return pulse period. By comparing the characteristics of the light pulses with the characteristics of the corresponding reflections, the distance and possible physical characteristics, such as the reflection intensity of the object 212, may be estimated. By repeating this process over multiple adjacent portions 122, the entire scan of the field of view 120 may be achieved in a predetermined pattern (e.g., a grating, Lissajous, or other pattern). As discussed in more detail below, in some cases, the lidar system 100 may direct light to only some portions 122 of the field of view 120 during each scanning cycle. These portions may be adjacent to each other, but need not be.

[0074] In another embodiment, the laser radar system 100 may include a network interface 214 for communicating with a host computer 210 (e.g., a vehicle controller). Communication between the laser radar system 100 and the host computer 210 is represented by a dashed arrow. In one embodiment, the network interface 214 may include an integrated services digital network (ISDN) card, a cable modem, a satellite modem, or a modem to provide a data communication connection to a corresponding type of telephone line. As another example, the network interface 214 may include a local area network (LAN) card to provide a data communication connection to a compatible LAN. In another embodiment, the network interface 214 may include an Ethernet port connected to a radio frequency receiver and transmitter and / or an optical (e.g., infrared) receiver and transmitter. The specific design and implementation of the network interface 214 depends on the communication network through which the laser radar system 100 and the host computer 210 are intended to operate. For example, the network interface 214 can be used to provide the output of the laser radar system 100, such as a 3D model, operating parameters of the laser radar system 100, etc., to an external system. In other embodiments, the communication unit can be used to receive instructions from an external system, receive information about the inspected environment, receive information from another sensor, etc.

[0075] Figure 3An example of a monostatic configuration of a lidar system 100 including a plurality of projection units 102 is shown. The term "monostatic configuration" broadly refers to a lidar system configuration in which the projected light exiting the lidar system and the reflected light entering the lidar system traverse substantially similar optical paths. In one example, the outbound beam and the inbound beam may share at least one optical component through which both the outbound beam and the inbound beam pass. In another example, the outbound light may pass through an optical window (not shown) and the inbound light radiation may pass through the same optical window. The monostatic configuration may include a configuration in which the scanning unit 104 includes a single optical deflector 114 that directs the projected light toward the field of view 120 and directs the reflected light toward the sensor 116. As shown, both the projected light 204 and the reflected light 206 impact the asymmetric deflector 216. The term "asymmetric deflector" refers to any optical device having two sides that is capable of deflecting a beam impacting it from one side in a direction different from the direction in which it deflects a beam impacting it from the second side. In one example, the asymmetric deflector does not deflect the projected light 204 and deflects the reflected light 206 toward the sensor 116. One example of an asymmetric deflector may include a polarizing beam splitter. In another example, the asymmetry 216 may include an optical isolator that allows light to pass in only one direction. Figure 2 A graphical representation of the asymmetric deflector 216 is shown in D. Consistent with the present disclosure, the co-located transceiver configuration of the lidar system 100 may include an asymmetric deflector to prevent reflected light from striking the light source 112 and direct any reflected light toward the sensor 116, thereby increasing detection sensitivity.

[0076] exist Figure 3 In an embodiment of the present invention, the lidar system 100 includes three projection units 102, each projection unit 102 having a single light source 112 aimed at a common light deflector 114. In one embodiment, multiple light sources 112 (including two or more light sources) can project light having substantially the same wavelength, and each light source 112 is generally associated with a different area of ​​the field of view (represented as 120A, 120B, and 120C in the figure). This enables scanning of a wider field of view than can be achieved using light sources 112. In another embodiment, multiple light sources 102 can project light having different wavelengths, and all light sources 112 can be directed to the same portion (or overlapping portion) of the field of view 120.

[0077] Sensing unit

[0078] Figure 5 and Figure 6 Various configurations of the sensing unit 106 in the laser radar system 100 and their functions are depicted. Specifically, Figure 5is a diagram showing a lens array associated with sensor 116, and Figure 6 Three figures are included showing the lens structure. Those skilled in the art will appreciate that the depicted configuration of the sensing unit 106 is merely exemplary and that many alternative variations and modifications are possible consistent with the principles of the present disclosure.

[0079] Figure 4 is a cross-sectional view of a portion of a sensor 116 according to an example of the presently disclosed subject matter. The illustrated portion of the sensor 116 includes a portion of a detector array 400 that includes four detection elements 402 (e.g., four SPADs, four APDs). The detector array 400 may be a photodetector sensor implemented in a complementary metal oxide semiconductor (CMOS). Each of the detection elements 402 has a sensitive area that is positioned within the substrate surroundings. Although not necessarily the case, the sensor 116 may be used in a transceiver combined lidar system with a narrow field of view (e.g., because the scanning unit 104 scans different portions of the field of view at different times). The narrow field of view of the incident light beam (if implemented) eliminates the problem of out-of-focus imaging. As Figure 4 As illustrated in FIG. 1 , the sensor 116 may include a plurality of lenses 422 (e.g., microlenses), each of which may direct incident light toward a different detection element 402 (e.g., toward an active area of ​​the detection element 402), which may be useful when out-of-focus imaging is not an issue. The lenses 422 may be used to increase the optical fill factor and sensitivity of the detector array 400, since a majority of the light reaching the sensor 116 may be deflected toward the active area of ​​the detection element 402.

[0080] like Figure 4 The detector array 400 illustrated in the example may include several layers built into the silicon substrate by various methods (e.g., implantation) (thus creating the sensitive region), contact elements to the metal layers, and isolation elements (e.g., shallow trench implantation STI, guard rings, optical trenches, etc.). The sensitive region may be a volume element in a CMOS detector that enables optical conversion of incident photons into current, provided that an appropriate voltage bias is applied to the device. In the case of an APD / SPAD, the sensitive region will be a combination of electric fields that pull the electrons generated by the absorption of the photons toward the multiplication region, where the photon-induced electrons are amplified, creating a breakdown avalanche of multiplied electrons.

[0081] Front-side illumination detectors (e.g. Figure 4The optical port through which photons impinge on the detector sensitive area comprises a channel through the metal layer. It should be noted that the passage of light from some directions through this channel can be covered by one or more metal layers (e.g., metal layer ML6, as shown). Figure 4 The detector element 402 on the left is obscured. This obscuration reduces the overall optical light absorption efficiency of the detector.

[0082] Figure 5 Three detection elements 402 are shown, each having an associated lens 422, according to an example of the disclosed subject matter. Figure 5 Each of the three detecting elements denoted 402(1), 402(2), and 402(3) illustrates a lens configuration that may be implemented in association with one or more of the detecting elements 402 of the sensor 116. Note that combinations of these lens configurations may also be implemented.

[0083] In the lens configuration shown with respect to detection element 402 (1), the focal point of the associated lens 422 can be located above the semiconductor surface. Optionally, openings in different metal layers of the detection element can have different sizes aligned with the cone of focused light generated by the associated lens 422. Such a structure can improve the signal-to-noise ratio and resolution of the array 400 as an entire device. Large metal layers can be important for the delivery of power and ground shielding. This approach can be useful, for example, for a transceiver combined lidar design with a narrow field of view, where the incident beam consists of parallel rays and the imaging focus has no effect on the detected signal.

[0084] In the lens configuration shown with respect to detection element 402(2), the efficiency of photon detection by detection element 402 can be improved by identifying a sweet spot. Specifically, a photodetector implemented in CMOS can have a sweet spot in a sensitive volume region where the probability of photons producing an avalanche effect is highest. Therefore, the focus of lens 422 can be positioned at the sweet spot location inside the sensitive volume region, as shown by detection element 402(2). The lens shape and distance from the focus can take into account the refractive index of all elements that the laser beam passes through along the path from the lens to the sensitive sweet spot location buried in the semiconductor material.

[0085] In About Figure 5In the lens configuration shown on the right side of the detection element, diffusers and reflective elements can be used to improve the efficiency of photon absorption in the semiconductor material. Specifically, near-IR wavelengths require significantly long paths through the silicon material in order to achieve a high probability of absorbing the photons traveling through. In a typical lens configuration, the photon may pass through the sensitive region and may not be absorbed into a detectable electron. The long absorption path that improves the probability of a photon producing an electron drives the size of the sensitive region towards less practical sizes (e.g., tens of μm) for CMOS devices manufactured with typical foundry processes. Figure 5 The rightmost detector element in the figure illustrates a technique for processing incident photons. An associated lens 422 focuses the incident light onto a diffuser element 424. In one embodiment, the light sensor 116 may further include a diffuser located in a gap away from the outer surface of at least some of the detectors. For example, the diffuser 424 may direct the light beam laterally (e.g., as vertically as possible) toward the sensitive area and the reflective optical groove 426. The diffuser is located at, above, or below the focus. In this embodiment, the incident light can be focused on a specific location where the diffuser element is located. Optionally, the detector element 422 is designed to optically avoid inactive areas where photon-induced electrons may be lost and reduce effective detection efficiency. The reflective optical groove 426 (or other form of optical reflective structure) causes the photons to bounce back and forth on the sensitive area, thereby increasing the probability of detection. Ideally, the photon will be trapped indefinitely in the cavity composed of the sensitive area and the reflective groove until the photon is absorbed and an electron / hole pair is generated.

[0086] Consistent with the present disclosure, a long path is created to allow the impinging photons to be absorbed and contribute to a higher probability of detection. Optical grooves may also be implemented in the detection element 422 to reduce the crosstalk effects of parasitic photons generated during avalanches, which may leak to other detectors and cause false detection events. According to some embodiments, the photodetector array may be optimized so that a higher yield of received signals is utilized, meaning that as much of the received signal as possible is received and less signal is lost due to internal degradation of the signal. The photodetector array may be improved by: (a) moving the focus to a location above the semiconductor surface, optionally by appropriately designing the metal layer above the substrate; (b) by directing the focus to the most responsive / sensitive area (or "sweet spot") of the substrate, and (c) adding a diffuser above the substrate to direct the signal to the "sweet spot" and / or adding reflective material to the grooves so that the deflected signal is reflected back to the "sweet spot".

[0087] Although in some lens configurations, the lens 422 may be positioned so that its focal point is over the center of the corresponding detection element 402, it should be noted that this is not required. In other lens configurations, the positioning of the focal point of the lens 422 relative to the center of the corresponding detection element 402 is shifted based on the distance of the corresponding detection element 402 from the center of the detection array 400. This may be useful in relatively large detection arrays 400, where detector elements farther from the center receive light at increasingly off-axis angles. Shifting the position of the focal point (e.g., toward the center of the detection array 400) allows correction of the angle of incidence. Specifically, shifting the position of the focal point (e.g., toward the center of the detection array 400) allows correction of the angle of incidence while using substantially the same lens 422 for all detection elements, which are positioned at the same angle relative to the surface of the detector.

[0088] When using a relatively small sensor 116 that covers only a small portion of the field of view, it may be useful to add an array of lenses 422 to the array of detecting elements 402, because in this case, the reflected signals from the scene arrive at the detector array 400 from substantially the same angle, and it is therefore easy to focus all light onto the individual detectors. It should also be noted that in one embodiment, the lens 422 can be used in the lidar system 100 to facilitate increasing the overall probability of detection for the entire array 400 (preventing photons from being "wasted" in dead zones between detectors / sub-detectors), at the expense of spatial uniqueness. This embodiment is in contrast to prior art implementations such as CMOS RGB cameras, which prioritize spatial uniqueness (i.e., light propagating in the direction of detecting element A is not allowed to be directed by the lens towards detecting element B, i.e., "bleed" to another detecting element of the array). Optionally, the sensor 116 includes an array of lenses 422, each lens 422 being associated with a corresponding detection element 402, and at least one of the lenses 422 deflects light propagating to a first detection element 402 toward a second detection element 402 (thereby increasing the overall probability of detection for the entire array).

[0089] Specifically, consistent with some embodiments of the present disclosure, the light sensor 116 may include an array of light detectors (e.g., detector array 400), each light detector (e.g., detector 410) being configured to cause an electric current to flow when light passes through an outer surface of the corresponding detector. In addition, the light sensor 116 may include at least one microlens configured to direct light toward the light detector array, the at least one microlens having a focal point. The light sensor 116 may also include at least one layer of conductive material interposed between the at least one microlens and the light detector array, and having a gap therein to allow light to pass from the at least one microlens to the array, the at least one layer being sized to maintain a space between the at least one microlens and the array so that the focal point (e.g., the focal point may be a plane) is located in the gap, at a position spaced apart from the detection surface of the light detector array.

[0090] In a related embodiment, each detector may include a plurality of single photon avalanche diodes (SPADs) or a plurality of avalanche photodiodes (APDs). The conductive material may be a multilayer metal constriction, and at least one layer of conductive material may be electrically connected to the detectors in the array. In one example, at least one conductive material layer includes a plurality of layers. In addition, the gap may be shaped to converge from at least one microlens toward the focus and diverge from the area of ​​the focus toward the array. In other embodiments, the light sensor 116 may also include at least one reflector adjacent to each photodetector. In one embodiment, a plurality of microlenses may be arranged in a lens array, and a plurality of detectors may be arranged in a detector array. In another embodiment, a plurality of microlenses may include a single lens configured to project light to a plurality of detectors in an array.

[0091] Processing Unit

[0092] Figure 6 Four examples of emission patterns in a single frame time of a single portion 122 of a field of view 120 associated with the instantaneous positioning of at least one light deflector 114 are shown. Consistent with embodiments of the present disclosure, the processing unit 108 may control the at least one light source 112 and the light deflector 114 (or coordinate the operation of the at least one light source 112 and the at least one light deflector 114) in a manner that enables the light flux to change as the field of view 120 is scanned. Consistent with other embodiments, the processing unit 108 may control only the at least one light source 112, and the light deflector 114 may move or pivot in a fixed predefined pattern.

[0093] Figure 6Graphs AD in FIG. depict the power of light emitted toward a single portion 122 of the field of view 120 over time. In graph A, the processor 118 may control the operation of the light source 112 in such a way that an initial light emission is projected toward a portion 122 of the field of view 120 during scanning of the field of view 120. When the projection unit 102 includes a pulsed light source, the initial light emission may include one or more initial pulses (also referred to as “pilot pulses”). The processing unit 108 may receive pilot information about reflections associated with the initial light emission from the sensor 116. In one embodiment, the pilot information may be represented as a single signal based on the output of one or more detectors (e.g., one or more SPADs, one or more APDs, one or more SiPMs, etc.), or as multiple signals based on the output of multiple detectors. In one example, the pilot information may include analog and / or digital information. In another example, the pilot information may include a single value and / or multiple values ​​(e.g., for different times and / or portions of a segment).

[0094] Based on the information about the reflection associated with the initial light emission, the processing unit 108 may be configured to determine a type of subsequent light emission to be projected toward the portion 122 of the field of view 120. The subsequent light emission determined for a particular portion of the field of view 120 may be made during the same scanning cycle (i.e., in the same frame) or in a subsequent scanning cycle (i.e., in a subsequent frame).

[0095] In illustration B, the processor 118 may control the operation of the light source 112 in such a way that during scanning of the field of view 120, light pulses of different intensities are projected toward a single portion 122 of the field of view 120. In one embodiment, the laser radar system 100 may be operable to generate one or more different types of depth maps, such as any one or more of the following types: a point cloud model, a polygonal mesh, a depth image (maintaining depth information for each pixel of an image or a 2D array), or any other type of 3D model of a scene. The sequence of depth maps may be a time sequence, in which different depth maps are generated at different times. Each depth map of a sequence associated with a scanning cycle (interchangeably referred to as a "frame") may be generated for the duration of a corresponding subsequent frame time. In one example, a typical frame time may last less than one second. In some embodiments, the laser radar system 100 may have a fixed frame rate (e.g., 10 frames per second, 25 frames per second, 50 frames per second), or the frame rate may be dynamic. In other embodiments, the frame times of different frames may be different across the sequence. For example, the lidar system 100 may implement a rate of 10 frames per second, which includes generating a first depth map within 100 milliseconds (on average), generating a second frame within 92 milliseconds, generating a third frame at 142 milliseconds, and so on.

[0096] In illustration C, the processor 118 may control the operation of the light source 112 in such a way that light pulses associated with different durations are projected toward a single portion 122 of the field of view 120 during scanning of the field of view 120. In one embodiment, the lidar system 100 may be operable to generate a different number of pulses in each frame. The number of pulses may vary between 0 and 32 pulses (e.g., 1, 5, 12, 28 or more pulses) and may be based on information derived from previous emissions. The time between light pulses may depend on the desired detection range and may be between 500ns and 5000ns. In one example, the processing unit 108 may receive information about the reflection associated with each light pulse from the sensor 116. Based on this information (or lack of information), the processing unit 108 may determine whether an additional light pulse is needed. It should be noted that the duration of the processing time and the emission time in illustrations AD are not proportional. In particular, the processing time may be substantially longer than the emission time. In illustration D, the projection unit 102 may include a continuous wave light source. In one embodiment, an initial light emission may include a time period for emitting light, and subsequent emissions may be a continuation of the initial emission, or there may be a discontinuity. In one embodiment, the intensity of the successive emissions may vary over time.

[0097] Consistent with some embodiments of the present disclosure, an emission pattern may be determined per portion of the field of view 120. In other words, the processor 118 may control the emission of light to allow for distinguishable illumination of different portions of the field of view 120. In one example, the processor 118 may determine an emission pattern for a single portion 122 of the field of view 120 based on detection of reflected light from the same scan cycle (e.g., initial emission), which makes the lidar system 100 extremely dynamic. In another example, the processor 118 may determine an emission pattern for a single portion 122 of the field of view 120 based on detection of reflected light from a previous scan cycle. Differences in the patterns of subsequent emissions may result from different values ​​of light source parameters (such as any of the following) determining the subsequent emissions.

[0098] a. The total energy of subsequent emissions.

[0099] b. Energy distribution of subsequent emissions.

[0100] c. The number of light pulse repetitions per frame.

[0101] d. Optical modulation characteristics such as duration, rate, peak, average power and pulse shape.

[0102] e. The wave characteristics of subsequent transmissions, such as polarization, wavelength, etc.

[0103] Consistent with the present disclosure, differentiation in subsequent transmissions can be used for different purposes. In one example, the transmission power level in one portion of the field of view 120 where safety is a consideration can be limited, while transmitting higher power levels for other portions of the field of view 120 (thereby improving signal-to-noise ratio and detection range). This is related to eye safety, but may also be related to skin safety, safety of optical systems, safety of sensitive materials, etc. In another example, more energy can be directed toward portions of the field of view 120 where the energy will have a greater use (e.g., areas of interest, targets at longer distances, low-reflective targets, etc.), while limiting the illumination energy to other portions of the field of view 120 based on detection results from the same frame or previous frames. It should be noted that the processing unit 108 can process the detected signals from a single instantaneous field of view several times within a single scan frame time; for example, subsequent transmissions can be determined after each pulse is transmitted or after multiple pulses are transmitted.

[0104] It should be noted that while examples of various disclosed embodiments have been described above and below with respect to a control unit that controls the scanning of the deflectors, the various features of the disclosed embodiments are not limited to such systems. Rather, the techniques for distributing light to various portions of the lidar FOV may be applicable to types of light-based sensing systems (lidar or otherwise) that may desire or need to direct different amounts of light to different portions of the field of view. In some cases, such light distribution techniques may positively impact detection capabilities, as described herein, but may also yield other advantages.

[0105] It should also be noted that various portions of the present disclosure and claims may use terms such as "first," "second," "third," etc. to refer to various components or parts of components (e.g., light sources, sensors, sensor pixels, field of view portions, field of view pixels, etc.). These terms are only used to facilitate the description of the various disclosed embodiments and are not intended to limit or indicate any necessary correlation with similarly named elements or components in other embodiments.

[0106] For example, a characteristic described as being associated with a “first sensor” in one embodiment described in one part of the present disclosure may or may not be associated with a “first sensor” in a different embodiment described in a different part of the present disclosure. It should be noted that the laser radar system 100 or any of its components may be used with any specific embodiments and methods disclosed below. However, the specific embodiments and methods disclosed below are not necessarily limited to the laser radar system 100, and may be implemented in other systems or by other systems (such as but not limited to other laser radar systems, other electro-optical systems, other optical systems, etc., whichever is applicable). Moreover, although the system 100 is described with respect to an exemplary vehicle-based laser radar platform, the system 100, any of its components, and any of the processes described herein may be applicable to laser radar systems disposed on other platform types. Similarly, the embodiments and processes disclosed below may be implemented on or by a laser radar system (or other systems such as other electro-optical systems) that is mounted on a system disposed on a platform other than a vehicle, or even regardless of any specific platform.

[0107] Figure 7 An exemplary laser radar system 100 including a beam splitter 1110 is shown. Figure 7 As shown in FIG, the lidar system 100 may include a monolithic laser array 950 configured to emit one or more laser beams (e.g., 1102, 1104, 1106, 1108). Before the beams 1102, 1104, 1106, and / or 1108 are incident on a beam splitter 1110, the one or more laser beams may be collimated by one or more collimators 1112. The beam splitter 1110 may allow the laser beams 1102, 1104, 1106, and / or 1108 to pass through and be incident on deflectors 1121, 1123, which may be configured to direct the laser beams 1102, 1104, 1106, and / or 1108 toward a FOV 1170. Although Figure 7 Only two deflectors 1121 , 1123 are shown, but it is contemplated that the lidar system 100 may include more than two deflectors 1121 , 1123 configured to direct one or more of the light beams 1102 , 1104 , 1106 and / or 1108 toward the FOV 1170 .

[0108] One or more objects in FOV 170 may reflect one or more of light beams 1102, 1104, 1106, and / or 1108. Figure 7As shown, the reflected light beams may be represented as laser beams 1152, 1154, 1156, and / or 1158. Although the reflected laser beams 1152, 1154, 1156, and / or 1158 are Figure 7 1150 as being directly incident on beam splitter 1110, it is contemplated that some or all of light beams 1152, 1154, 1156, and / or 1158 may be directed toward beam splitter 1110 by deflectors 1121, 1123, and / or another deflector. When light beams 1152, 1154, 1156, and / or 1158 reach beam splitter 1110, beam splitter 1110 may be configured to direct reflected light beams 1152, 1154, 1156, and / or 1158 received from FOV 1170 toward detector 1130 via lens 1122. Although Figure 7 Four beams are shown emitted by the monolithic laser array 950 , but it is contemplated that the monolithic laser array 950 may emit any number of beams (eg, fewer or more than four).

[0109] In some embodiments, the beam splitter is configured to redirect each of the plurality of laser beams and pass through a plurality of reflected beams received from the field of view of the lidar system. As an example, Figure 8 An exemplary lidar system 100 is shown, which may include a monolithic laser array 950, a collimator 1112, a beam splitter 1110, deflectors 1121, 1123, lenses and / or optical filters 1122, and a detector 1130. The monolithic laser array 950 may emit one or more laser beams 1102, 1104, 1106, and / or 1108, which may be collimated by one or more collimators 1112 before being incident on the beam splitter 1110.

[0110] The beam splitter 1110 may be configured to direct one or more of the laser beams 1102, 1104, 1106, and / or 1108 toward the deflectors 1121, 1123, which in turn may be configured to direct one or more of the laser beams 1102, 1104, 1106, and / or 1108 toward the FOV 1170. One or more objects in the FOV 1170 may reflect one or more of the laser beams 1102, 1104, 1106, and / or 1108. The reflected laser beams 1152, 1154, 1156, and / or 1158 may be directed by the deflectors 1121, 1123 to be incident on the beam splitter 1110. It is also contemplated that some or all of the reflected laser beams 1152 , 1154 , 1156 and / or 1158 may reach the beam splitter 1110 without being directed toward the beam splitter 1110 by the deflectors 1121 , 1123 .

[0111] like Figure 8As shown in FIG. 1 , the beam splitter 1110 can be configured to allow reflected laser beams 1152, 1154, 1156, and / or 1158 to pass through the beam splitter 1110 toward the detector 1130. One or more lenses and / or optical filters 1122 can receive the reflected laser beams 1152, 1154, 1156, and / or 1158 and direct them toward the detector 1130. Although Figure 8 Four beams are shown being admitted by the monolithic laser array 950 , but it is contemplated that the monolithic laser array 950 may emit any number of beams (eg, fewer or more than four).

[0112] The sensing element circuit may include only the sensing element, but may also include (in addition to the sensing element) additional circuits, such as electrical components, such as resistors and / or capacitors and / or inductors, which may be used for various purposes, such as biasing the sensing element, discharging the sensing element, providing a bias to the sensing element, setting an operating point of the sensing element, charging the sensing element, etc. The sensing element circuit may include an output signal selection unit for selecting an output port (from a plurality of output ports) for outputting a detection signal indicative of radiation sensed by the sensing element.

[0113] The receiving window is a group of sensing element circuits that can be two-dimensional. The group of sensing element circuits can be positioned to sense reflected light spots impinging on the receiving window.

[0114] The receive window may be read by the readout circuitry, while any sense element circuitry (or at least most of the sense element circuitry) outside the receive window may be ignored during the readout process.

[0115] Adaptive control of sensing element circuit arrays

[0116] According to one embodiment, a laser radar system is provided, comprising: (a) a sensing element circuit array, the array comprising a plurality of sub-arrays of SECs, (b) a readout unit, (c) a coupling unit; and (d) a controller configured to select a first sub-array and a second sub-array from the plurality of sub-arrays. The selection is based on expected locations of concurrently impinging reflections from objects illuminated by a transmit signal transmitted by the laser radar system. The second sub-array is horizontally and vertically displaced from the first sub-array. An example of a portion of a laser radar system is provided in Figure 11-Figure 14 Shown in.

[0117] The first sub-array and the second sub-array are configured to generate a detection signal indicative of reflection.

[0118] The coupling unit is configured to couple the readout unit to the first sub-array and the second sub-array.

[0119] The readout unit is configured to read one or more readout unit input signals indicative of the detection signal.

[0120] According to one embodiment, the selection is also based on one or more LiDAR system misalignments. LiDAR system misalignments may cause different reflections that concurrently impinge on the sensing unit at positions horizontally displaced from each other, and the selection compensates for the horizontal displacement.

[0121] According to one embodiment, the controller is further configured to deactivate at least one additional sub-array of the array.

[0122] According to one embodiment, the coupling unit comprises a horizontal shifting element configured to couple the first sub-array and the second sub-array.

[0123] According to one embodiment, the laser radar system also includes a power shifting element configured to couple the first sub-array power conduit to the second sub-array power conduit.

[0124] According to one embodiment, the horizontal shifting element is further configured to couple the first subarray to a third subarray, the third subarray being horizontally and vertically shifted from the first subarray and at least horizontally shifted from the second subarray. See e.g. Fig.13 .

[0125] According to one embodiment, the laser radar system further includes a power supply unit configured to supply power to the first sub-array and the second sub-array while preventing power from being supplied to at least one additional sub-array of the SEC array.

[0126] According to one embodiment, the SEC comprises a plurality of outputs for outputting detection signals generated by the SEC.

[0127] Fig.30 An example of method 2000 is shown.

[0128] According to one embodiment, method 2000 includes step 2010: receiving a selection of a first subarray and a second subarray from a plurality of subarrays of a sensing element circuit (SEC) array of a sensing unit, the selection being based on expected locations of concurrently impinging reflections from an object illuminated by a transmit signal transmitted by a lidar system, wherein the second subarray is horizontally and vertically displaced from the first subarray.

[0129] According to one embodiment, step 2010 is followed by step 2020 of coupling the readout unit to the first sub-array and the second sub-array by a coupling unit.

[0130] According to one embodiment, step 2020 is followed by step 2030 of generating a detection signal by the first subarray and the second subarray, the detection signal indicating reflection. According to one embodiment, step 2030 is followed by step 2040 of generating a detection signal by the first subarray and the second subarray, the detection signal indicating reflection.

[0131] According to one embodiment, step 2040 is followed by step 2050 of reading, by a readout circuit, one or more readout unit input signals indicative of a detection signal.

[0132] According to one embodiment, a non-transitory computer medium storing instructions is provided, the instructions being for: receiving a selection of a first subarray and a second subarray from a plurality of subarrays of a sensing element circuit (SEC) array of a sensing unit, the selection being based on expected locations of concurrently impinging reflections from an object illuminated by a transmit signal transmitted by a laser radar system, wherein the second subarray is horizontally and vertically displaced from the first subarray; coupling a readout unit to the first subarray and the second subarray via a coupling unit; generating detection signals by the first subarray and the second subarray, the detection signals being indicative of the reflections; and reading, by the readout circuit, one or more readout unit input signals indicative of the detection signals.

[0133] Fig. 9 A sense element circuit array ("array") 604 is shown that includes an array of sense element circuits 608 arranged in rows and columns.

[0134] Fig. 9 Also shown are horizontally aligned receive windows 610(1)-610(5) that fall on different rows of the array.

[0135] The receive window may correspond to the instantaneous FOV and may follow the shape of one or more reflected light spots simultaneously impinging on the array.

[0136] Due to the horizontal alignment of the different receiving windows, only a limited number of relevant columns (columns falling on the receiving windows) need to be read, for example relevant columns 607 ( 1 )- 607 ( 7 ).

[0137] During readout, the sensing element circuits of the associated columns are powered (receive power from power supply 601 via power line 602 connected via power line switch 603). The sensing element circuits of the associated columns are read by readout switch matrix 605, and the reading may include reading the output signal of each sensing element circuit, adding the signals of multiple sensing element circuits, averaging the signals of the sensing element circuits, etc.

[0138] The summing and / or averaging may be performed by the readout switch matrix 605 and / or the sense amplifiers 606 and / or may be performed after the sense amplifiers 606 output their output signals in the analog and / or digital domain.

[0139] Due to various reasons—including misalignment of the lidar system, different receiving windows may be horizontally misaligned—such as Fig.10 (See horizontally misaligned receive windows 610(1)-610(5)). This may require reading from a larger number of columns (compared to Fig. 9 Compared with the scene - see Fig.10 The relevant columns 607(1)-607(11)) of FIG. 1 and more irrelevant sensing element circuits 613 (located outside of different receiving windows but within the relevant columns) need to be read - this may reduce the signal-to-noise ratio of the single detection signal.

[0140] The evaluation of the positioning of the receiving windows - in particular their horizontal misalignment may be triggered by any event (which may be a sensing event and / or an estimation event) and / or may be performed at any frequency - at one or more times in the life cycle during each period (one or more hours, one or more days, one or more weeks, one or more months, one or more years, etc.). The evaluation may be performed before the LiDAR is shipped from its manufacturer, after the LiDAR is shipped from its manufacturer (e.g., during operation of the LiDAR), and the evaluation may be dynamically updated in operation.

[0141] To reduce noise introduced by circuits reading irrelevant sense elements and to reduce the number of relevant columns to read, the array is segmented into sub-arrays (and the columns are segmented into sub-columns).

[0142] The subarrays are separated (and connected) by horizontal shifting units, such as sets of horizontally shifted elements that define virtual correlation columns. The virtual correlation columns include correlation subcolumns that can cover different receive windows in a more efficient manner. The virtual correlation columns can include correlation subcolumns, where, for each subarray that includes a receive window, a subcolumn of the subarray is covered by the receive window.

[0143] Fig.11 An example of an array 604 segmented into nine sub-arrays 609 ( 1 ) to 609 ( 9 ) by eight horizontal shift sets 612 ( 1 ) to 612 ( 8 ) is shown.

[0144] Fig.11 Also shown are virtual columns 613(1) and 613(3). To simplify the illustration, there are more virtual columns that are not shown.

[0145] It should be noted that although Fig.11 One output port (and one readout line) per row of sense element circuits is shown—but Fig.12Two output row lines per row of sensing element circuits are shown (see additional row lines 615). These additional output row lines can be used to determine horizontal misalignment associated with an object illuminated by the lidar - in particular by selectively passing a first detection signal of a first sensing element circuit on a first row and selectively passing a second detection signal of a second sensing element circuit on a second row. This can involve allocating the first sensing element circuits and the second sensing element circuits in an alternating manner. The sum of the first sensing signals can be compared to the sum of the second sensing signals to find misalignment. Although this check involves the first row and the second row - it is applicable to more than two rows - and requires sensing elements with more than two outputs.

[0146] Fig.13 An example of nine sense element circuits arranged sequentially in three rows and three columns, three power supply level shifting elements 612 ( 1 , 1 ), 612 ( 1 , 2 ), and 612 ( 1 , 3 ), and three output select line level shifting elements 616 ( 1 , 1 ), 616 ( 1 , 2 ), and 616 ( 1 , 3 ) is shown.

[0147] The sense element circuit is shown to include a sense element 608 (1), additional components 608 (3) (e.g., resistors and capacitors), and an output switch 608 (2) for selecting whether the detection signal output from the sense element circuit should be output from a first port of the sense element circuit to a row output line A (denoted as SPAD out BL-A) or from a second port of the sense element circuit to a row output line B (denoted as SPAD out BL-B). BL represents a bit line. There may be more than two rows, and the sense element circuit may include more than two outputs.

[0148] A power supply should be provided to the associated dummy column. The power level shifting element virtually connects the sub-columns of the associated dummy column by providing power to the associated sensing element circuits.

[0149] The output signal should be output from the associated dummy column. The output select line horizontal shifting element provides the output from the sub-columns of the dummy column.

[0150] The horizontal shifting elements may be evenly spaced from one another, may be unevenly spaced from one another, may be spaced from one another by any number of rows, and there may be any number of horizontal shifting elements per array.

[0151] exist Fig.13 6, the two upper sense element circuits of each of the three rows are virtually connected to the lower sense element circuit of the left-shifted sub-column. A portion of the virtual column is shown by dashed line 617.

[0152] It should be noted that a single sense element circuit may output its output signal to a selected one of more than two output ports (see Fig.14 ), and the horizontal shift element can perform selection between three or more sub-columns.

[0153] Fig.14 Shows:

[0154] a. A first sense element circuit 608 of a first sub-array into which is fed a power supply and an output control signal for selecting (using a selector 610) one of the three outputs of the first sense element circuit.

[0155] b. A horizontal shifting element 609 is used for each of the power supply and the output control signal. The horizontal shifting element 609 is configured to selectively feed one of the sensing element circuits 608 of the second sub-array according to the definition of the virtual column.

[0156] Fig.15 The relationship between the distance of an object from the lidar (represented by polygon 801), the rotation of polygon 801, and the horizontal position of the reflected light spot from the object within the receiving window is shown.

[0157] The polygon 801 scans the environment by rotating about an axis, for example by performing a clockwise rotation.

[0158] Scenes 701, 702, 703, and 704 show reflections from objects at increasing distances (D1, D2, D3, and D4) from the lidar, and different positioning of polygons indicating different locations of reflection points (from the objects) on the receiving window 802. Rotating clockwise positions objects farther from the lidar toward the right side of the receiving window. Objects farther away appear smaller on the receiving window, and their reflections are attenuated due to the increasing distance.

[0159] It may be expected that one or more reflected light spots from an object located within a certain distance will be centered at a certain horizontal coordinate within the receiving window. This can ensure that reflected light spots from objects located within the distance range of interest (e.g., between 100 meters and 200 meters) will fall within the receiving window, which may be particularly important for objects located at the upper end (i.e., farther away) of the distance range of interest—because the intensity of the reflected light spots decreases as a power of 2 of the distance d, i.e., as a function of 1 / d. 2 Proportional function.

[0160] Fig.16 An example of an aligned scene 705 is shown, where a reflected light spot from an object located at a distance D3 is centered on an alignment line 803 within the receiving window 802 .

[0161] Fig.16Also shown is an example of a misaligned scene 706 , where a reflected light spot from an object located at a distance D3 is misaligned with an alignment line 803 within the receiving window 802 .

[0162] Fig.17 The sense element circuits on both sides are shown - (i) side A sense element circuits, which output their signals via row output line A and are located to the left of the desired center, and (ii) side B sense element circuits, which output their signals via row output line B and are located to the right of the desired center.

[0163] Fig.17 The upper portion of shows an aligned scene 705, where the number of illuminated side A sensing element circuits 721 is equal to the number of illuminated side B sensing element circuits 722. Assuming the strength of the detection signal of each sensing element circuit and the sum of the detection signals on each side are similar - the aggregate detection signal from side A will be substantially equal to the aggregate detection signal from side B.

[0164] Fig.17 The lower portion of the diagram shows a misaligned scenario 706, where the number of illuminated side A sensing element circuits 721 is different from the number of illuminated side B sensing element circuits 722. In this case, the reflected light spots are mostly to the left of the desired alignment. Assuming the strength of the detection signal of each sensing element circuit and the sum of the detection signals on each side are similar - the aggregate detection signal from side A will substantially exceed the aggregate detection signal from side B.

[0165] An alignment process may be provided and may include reading separate sense element circuits via different row output lines of the same row.

[0166] The alignment assessment may be performed at any frequency and / or may be triggered by any event. An event may be a sensed event and / or an estimated event.

[0167] Events may include the start of operation of the LiDAR system, any point in time during operation of the LiDAR system, any change in the state of the LiDAR system or a portion of the LiDAR system (e.g., a change in temperature), any change in environmental conditions (rain, temperature, wind), any vehicle change (stop, acceleration, speed, etc.).

[0168] Alignment assessments may be performed prior to shipment of the LiDAR system, after shipment of the LiDAR system from its manufacturer, during operation of the LiDAR system, and the like.

[0169] Reduced receive window

[0170] A lidar system may be configured to receive reflected light spots from objects over a wide range of distances, for example, between zero meters and 300 meters (or even more) from the lidar system.

[0171] Reflected light spots from objects that are very close to the lidar (e.g., between zero and tens of meters—e.g., between zero and fifty meters) are very strong and may saturate the sensing elements (which then recover during a time-consuming recovery process during which they are ineffective), and in addition, reflected light spots from close objects are relatively large and are detected by many radiation sensing elements.

[0172] Reflected light spots from very distant objects received behind a rotating element of the LiDAR system (e.g., a polygon) may appear in the next frame as ghost signals—and should be ignored.

[0173] It may be beneficial to define a reduced reception window that will detect only a portion of the reflected light spots from close-range objects and fully detect reflected light spots from objects located within the distance range of interest (eg, between 100 meters and 200 meters).

[0174] The reflected light spot from the partial detection of the close object is large enough to enable effective detection of the close object even based on a portion of the partially detected reflected light spot. The partial detection may reduce saturation.

[0175] The reduced receiving window can partially detect reflected light spots from objects located behind the distance range of interest and / or reject ghost signals. These reflected light spots are very weak and of little interest and may only be partially detected.

[0176] Fig.18 A detection window 830 of the light sensor is shown for partially detecting reflected light spots 831 from close objects, fully detecting reflected light spots 832 from objects within a distance range of interest, partially detecting reflected light spots 833 from objects outside the distance range of interest, and ignoring ghost signals 835.

[0177] Fig.31 A lidar system 2100 is shown, which includes an optical device 2102, a sensing unit 2104, a controller 2106 and a local memory 2108.

[0178] According to one embodiment, the local memory is in the controller. According to one embodiment, the local memory is in the sensing unit. According to one embodiment, the local memory is in the controller and the sensing unit.

[0179] According to one embodiment, “in” means integrated with and / or as a part of the same integrated circuit.

[0180] According to one embodiment, the controller includes a local memory integrated in the controller chip (IC) in which the binary vector is stored.

[0181] According to one embodiment, the controller transmits a binary vector to the sensing unit.

[0182] According to one embodiment, the sensing unit has a second local memory integrated in the sensing unit integrated circuit.

[0183] According to one embodiment, stored on the sensing unit local memory are pixel configurations and / or SUC configurations and / or SUC sequences.

[0184] According to one embodiment, local memory in the sensing unit can save time and achieve the speed required for sub-pixel level TOF tracking.

[0185] According to one embodiment, the controller has a local memory integrated in the controller integrated circuit, in which the binary vector and the SUC configuration and / or the SUC configuration sequence are stored.

[0186] According to one embodiment, the controller transmits information stored in the controller local memory to the sensing unit.

[0187] According to one embodiment, the configuration information is represented by something other than the above-mentioned binary vector.

[0188] Optical device 2102 includes scanner 2103. Figure 1-Figure 5 and Figure 7-Figure 8 Examples of various components, such as optical devices, sensing units, and controllers are shown in FIG. It should be noted that the lidar system 2100 may be different from Figure 1-Figure 5 and Figure 7-Figure 8 The lidar system shown in . For example, the controller can be programmed in a different manner. In another example, the optics can be modified and / or the sensing unit can be activated and / or operated in another manner.

[0189] According to one embodiment, the optical device 2102 is configured to (a) transmit a transmit signal using the scanner and (b) receive a reflection from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system.

[0190] According to one embodiment, the sensing unit 2104 is configured to selectively sense reflections by:

[0191] a. Avoid sensing at least a portion of a first reflection from an object located within one or more first distance ranges from the laser radar system. See, e.g. Fig.18- Partial detection of reflected light spots 831 from close objects and part detection of reflected light spots 833 from objects outside the distance range of interest.

[0192] b. sensing the entire second reflection, the second reflection coming from an object located within one or more second distance ranges from the lidar system. See e.g. Fig.18 - Full detection of reflected light spots 832 from objects within the distance range of interest.

[0193] According to one embodiment, the controller 2106 is configured to keep active the sensing elements expected to receive the second reflection and to keep inactive the sensing elements expected to receive at least a portion of the first reflection.

[0194] According to one embodiment, the one or more first distance ranges include a short distance range associated with a reflection from an object associated with a distance from the lidar system that does not exceed a first distance threshold. See, e.g. Fig.18 - Partial detection of reflected light spots 831 from close objects.

[0195] According to one embodiment, the first distance threshold ranges between 1 meter and 15 meters. According to one embodiment, the sensing unit is configured to sense only another part of each of the reflections associated with the short distance range. See e.g. Fig.18 - Partial detection of reflected light spots 831 from close objects and part detection of reflected light spots 833 from objects outside the distance range of interest.

[0196] According to one embodiment, the sensing unit avoids sensing the entire ghost reflection associated with another transmission signal transmitted during the previous scanning segment time window. See e.g. Fig.18 - Ignore ghost signal 835.

[0197] According to one embodiment, the controller is configured to define a reduced reception window that spans only along a portion of the sensing unit. The definition causes the sensing circuit to be deactivated outside the reduced reception window.

[0198] According to one embodiment, the one or more first distance ranges include a long distance range associated with a reflection from an object associated with a distance from the lidar system that exceeds a second distance threshold. See, e.g. Fig.18 - Partially detecting reflected light spots 833 from objects outside the distance range of interest.

[0199] Fig.32 is an example of method 2200 for operating a lidar system.

[0200] According to one embodiment, method 2200 includes step 2210 of transmitting a signal by an optical device of a lidar system using a scanner.

[0201] According to one embodiment, step 2210 is followed by step 2220 of receiving reflections from the object by the optics and using a scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system.

[0202] According to one embodiment, step 2220 is followed by step 2230, in which the reflection is selectively sensed by a sensing unit of the lidar, wherein the selective sensing includes (i) avoiding sensing at least a portion of a first reflection, the first reflection coming from an object located within one or more first distance ranges from the lidar system; and (ii) sensing the entire second reflection, the second reflection coming from an object located within one or more second distance ranges from the lidar system.

[0203] According to one embodiment, step 2230 includes:

[0204] a. Avoid sensing at least a portion of a first reflection from an object located within one or more first distance ranges from the laser radar system. See, e.g. Fig.18 - Partial detection of reflected light spots 831 from close objects and part detection of reflected light spots 833 from objects outside the distance range of interest.

[0205] b. sensing the entire second reflection, the second reflection coming from an object located within one or more second distance ranges from the lidar system. See e.g. Fig.18 - Full detection of reflected light spots 832 from objects within the distance range of interest.

[0206] According to one embodiment, step 2230 includes keeping active a sensing element intended to receive the second reflection, and keeping inactive a sensing element intended to receive at least a portion of the first reflection.

[0207] According to one embodiment, the one or more first distance ranges include a short distance range associated with a reflection from an object associated with a distance from the lidar system that does not exceed a first distance threshold. See, e.g. Fig.18 - Partial detection of reflected light spots 831 from close objects.

[0208] According to one embodiment, the first distance threshold ranges between 1 meter and 15 meters. According to one embodiment, the sensing unit is configured to sense only another part of each of the reflections associated with the short distance range. See e.g. Fig.18- Partial detection of reflected light spots 831 from close objects and part detection of reflected light spots 833 from objects outside the distance range of interest.

[0209] According to one embodiment, step 2230 includes avoiding sensing of an entire ghost reflection associated with another transmit signal transmitted during a previous scan segment time window. Fig.18 - Ignore ghost signal 835.

[0210] According to one embodiment, step 2230 comprises defining a reduced receive window that spans only along a portion of the sensing unit. This is followed by deactivating the sensing circuitry outside the reduced receive window.

[0211] According to one embodiment, the one or more first distance ranges include a long distance range associated with a reflection from an object that is associated with a distance from the lidar system that exceeds a second distance threshold. See, e.g. Fig.18 - Partially detecting reflected light spots 833 from objects outside the distance range of interest.

[0212] According to one embodiment, a non-transitory computer-readable medium storing instructions is provided that, once executed by a lidar system, causes the lidar system to: transmit a signal by an optics of the lidar system using a scanner; receive reflections from an object by the optics and using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; and selectively sense the reflections by a sensing unit of the lidar, wherein the selective sensing includes (i) avoiding sensing at least a portion of a first reflection, the first reflection coming from an object located within one or more first distance ranges from the lidar system; and (ii) sensing an entire second reflection, the second reflection coming from an object located within one or more second distance ranges from the lidar system.

[0213] Reduce noise by reducing the influence of irrelevant sensing elements

[0214] When a scanning unit such as a polygon scans the FOV of the lidar system, the receiving window can move according to the rotation of the polygon. The rotation of the polygon causes reflections from targets located at different distances from the lidar to hit the polygon at different points in time - while the polygon is at different angular positions - causing the reflections to move across the sensing element array - and changing the correlation of the sensing element columns of the two-dimensional array of sensing elements.

[0215] Fig.19 An array of sensing elements including groups of rows and groups of columns is shown. Fig.19A first row of groups including groups 1-1 to 1-8, a second row of groups including groups 2-1 to 2-8, a seventh row of groups including groups 7-1 to 7-8, and an eighth row of groups including groups 8-1 to 8-8 are shown. The array is shown to include eight columns, each of which can independently receive a power supply (e.g., an anode voltage) or be disconnected from the power supply (e.g., not fed by an anode voltage). Power is supplied from a power supply and through independently controlled power switches 12-1 to 12-8.

[0216] The first row of the group is read (sensed) by the first readout circuit READA_1 10-1 at the row of group resolution. For example - the current read by the first readout circuit READA_1 10-1 is the sum of the currents from all sensing elements of groups 1-1 to 1-8. The resolution may be the row of sub-group resolution.

[0217] This readout causes irrelevant sense elements (sense elements located outside the relevant column of relevant sense elements) to introduce noise.

[0218] Noise can be reduced by limiting the contribution of irrelevant sensing elements to the readout signal.

[0219] This reduction may include, for example, turning off the irrelevant sensing element—and causing the irrelevant sensing element to be discharged by impinging light (e.g., unwanted sunlight) and reach an inactive state (e.g., reaching or passing a breakdown point) where the irrelevant sensing element does not generate any signal—or generates an insignificant signal.

[0220] The relevance of the sensing element is determined by the expected position of the light reflected as a result of the light emission of the LiDAR system. The relevance can be determined, for example, by the rotation of the polygon - or any other scanning element.

[0221] Therefore, once the relevant column becomes irrelevant, it can be disconnected from the power supply.

[0222] Fig.19 The relevance of the columns (relevant columns are indicated as 525) over time is shown - and how power is provided. The symbol "+" marks columns that receive power supply. The symbol "-" marks columns that do not receive power supply. The symbol "D" marks columns that have just been deactivated (e.g., column 526).

[0223] Fig. 20 An example of deactivating a column by switching power (e.g., anode power) from a first power supply 13-1 that provides enough power to keep the sensing element active to a second power supply 13-2 that provides a sufficiently low power to deactivate the sensing element, e.g., quickly bring the SPAD to its breakdown point, is shown. This switching can speed up the turn-off and further reduce noise.

[0224] Fig.21 An array is shown that includes unused rows before the first row of a group and after the eighth row of the group.

[0225] Fig.21 Also shown is the associated column including the next column that the reflected light is expected to impinge.

[0226] Fig. 22 Examples of different numbers of related columns are shown.

[0227] It has been found that the size of the instantaneous field of view (iFOV) on the sensing element array is determined by the laser divergence, the time elapsed between illuminating and receiving light (time of flight) as the scanner moves (the subject of this disclosure), and mechanical tolerances.

[0228] Due to the pulsed TOF and fast polygon rotation, the iFOV increases.

[0229] A vertical array of sensing elements (e.g. SiPM detectors) may be provided. Where the horizontal size of the pixels is the horizontal iFOV, where the SiPMs are divided into vertical columns that can be switched on and off individually. Then, between the illuminating laser and the receiving light, during TOF, the columns associated with short distances are switched off, so that the iFOV is reduced during TOF. Furthermore, the disabling of the columns can be done by disconnecting them (anodes) from the voltage source (there are other ways to do this, by connecting to ground or another circuit) - the pixels in the column disconnected from the high voltage will remain active for a short time, until noise photons from ambient light or from dark noise will reduce the voltage below the breakdown voltage. The concept is most advantageous in daylight (when more ambient light reduces the SNR of the sensing element signal)

[0230] Control sensor unit

[0231] Fig.33 An example of a lidar system 2300 is shown, which includes an optical device 2102, a sensing unit 2104, a controller 2106, and a local memory 2108. The optical device 2102 includes a scanner 2103. Examples of various components such as optical devices, sensing units, and controllers are shown in FIG. Figures 1 to 5 and Figures 7 and 8 It should be noted that the laser radar system 2100 may be different from Figures 1 to 5 and Figures 7 and 8 The lidar system shown in . For example, the controller can be programmed in a different manner. For another example, the optical device can be modified and / or the sensing unit can be activated and / or operated in another manner.

[0232] According to one embodiment, the optical device 2102 is configured to (a) transmit a transmit signal using the scanner and (b) receive a reflection from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system.

[0233] According to one embodiment, the sensing unit 2104 includes a plurality of sensing elements 2305 .

[0234] According to one embodiment, the controller 2106 is configured to (a) activate the plurality of sensing elements before starting to receive reflections, and (b) selectively deactivate at least some of the plurality of sensing elements based on a scan direction of the scan segment, thereby reducing the number of active sensing elements during the scan segment time window.

[0235] According to one embodiment, the plurality of sensing elements comprises a plurality of sensing element sets, wherein the controller is configured to selectively deactivate sensing element sets of the plurality of sensing element sets.

[0236] exist Figure 24-Figure 29 An example of a sensing element set is shown in - each group of boxes (each box is a sensing element group) that changes its state from active to deactivated is a sensing element set.

[0237] According to one embodiment, each set of sensing elements is a row of sensing element groups. Fig.24 and Fig.28 A set of sensing elements arranged in columns is shown in FIG. Fig.24 , see that the set of sensing element groups (each sensing element group is represented by a rectangle) includes the leftmost column of sensing element groups that have just been deactivated—the leftmost column of sensing element groups at time T2, the second leftmost column of sensing element groups at time T3, the third leftmost column of sensing element groups at time T4, and the second rightmost column of sensing element groups at time T6.

[0238] According to one embodiment, each sensing element set comprises segments of a plurality of rows of sensing element groups, wherein at least two of the segments of the rows of the plurality of sensing element groups are displaced from each other. Figure 25-27 , a set of sensing elements arranged as a virtual column including some groups of sensing elements vertically and horizontally to each other is shown.

[0239] According to one embodiment, the lateral displacement between at least two of the plurality of sensing element groups of segments is selected to compensate for sensor unit misalignment. See e.g. Fig.26 and Fig. 27 , where a set of sensing elements is defined according to horizontally misaligned receiving windows 610 ( 1 )- 610 ( 5 ) which may be misaligned due to sensor unit misalignment.

[0240] In order to reduce the communication bandwidth between the controller and its environment, and thereby reduce the noise associated with signal communications, and to simplify and speed up the control of the sensing units, a local memory 2108 is provided, which is configured to store a sensing unit configuration sequence that controls the sensing units over time during a scan segment time window (which is a relatively short window).

[0241] According to one embodiment, the controller 2106 is configured to selectively deactivate the set of sensing elements based at least in part on a sequence of sensing unit configurations represented by the configuration information 2120, each sensing unit configuration (SUC) being associated with a duration for which the sensing unit configuration is applied. Assume that the sequence includes Q different SUCs: Fig.33 It is shown that the configuration information includes configuration information about each of the SUCs—denoted as 2121(1) to 212(Q), Q being an integer greater than 1.

[0242] The following provides a non-limiting example of configuration information:

[0243] To simplify the explanation, assume that each SUC configuration information defines a rectangle of sensing elements to be activated, and that the rectangle is defined by two corners of the rectangle—for example:

[0244] SUC configuration 1 is defined by (upper left coordinates in the sensing element array X1-1, Y1-1) and (lower right coordinates in the sensing element array X1-2, Y1-2).

[0245] SUC configuration 2 is defined by (upper left coordinate in the sensing element array X2-1, Y2-1) and (lower right coordinate in the sensing element array X2-2, Y2-2).

[0246] Different SUC configurations define different points with different combinations of X and Y values.

[0247] In this example, the SUC sequence includes (i) SUC configuration 1, (ii) SUC configuration 3, and (iii) SUC configuration 7.

[0248] The configuration information includes this list.

[0249] The configuration information includes each of the relevant SUC configurations.

[0250] In this example, the configured durations are different from each other.

[0251] In the example, the duration information is represented by a binary vector (also part of the configuration information) with set bits to indicate when each configuration should be activated—for example: [00100001000100…]. This indicates that (i) SUC configuration 1 should be applied from the third cycle to the end of the seventh cycle, (ii) SUC configuration 5 should be applied from the eighth cycle to the end of the eleventh cycle, and (iii) SUC configuration 7 should be applied from the twelfth cycle.

[0252] In this example, each cycle is approximately 25 picoseconds long and can be generated by a time-of-flight clock.

[0253] According to one embodiment, the duration for which all sensing unit configurations are applied is the same.

[0254] According to one embodiment, the duration for which one sensing unit configuration is applied is different from the duration for which another sensing unit configuration is applied.

[0255] According to one embodiment, at least one sensing unit configuration is based on a fixed allocation of sensing elements of each sensing element set. The fixed allocation does not change over time.

[0256] According to one embodiment, at least one sensing unit configuration is based on a dynamic allocation of sensing elements of each sensing element set. The dynamic allocation changes over time and adapts to changes in the operation of the lidar system, such as changes in the position of the receiving window.

[0257] According to one embodiment, the dynamic allocation is responsive to changes in the reflection positions associated with the misalignment.

[0258] According to one embodiment, the reduction in the number of active sensing elements is determined based on an instantaneous signal-to-noise ratio (SNR) associated with the active sensing elements. For example, at the beginning of the scan segment time window, the sensing unit receives stronger reflections and more sensing elements are active, while towards the end of the scan segment time window, fewer sensing elements are active—because the reflections are weaker.

[0259] According to one embodiment, the transmitted signal is a single light beam. See e.g. Fig.23 A single reflection 901 received at a given point in time.

[0260] According to one embodiment, the transmitted signal comprises a plurality of light beams. See e.g. Fig.24 and Fig.25 The scanning segment time window is relatively short - for example, assuming the relevant region of interest spans up to 200 meters from the vehicle - the duration of the scanning segment time window is about 1.3 microseconds.

[0261] According to one embodiment, the FOV of the lidar system is scanned by a plurality of scan segments.

[0262] According to one embodiment, at least two of the plurality of scan segments exhibit the same scan direction.

[0263] According to one embodiment, at least two of the plurality of scan segments exhibit different scan directions. See, for example, the lidar system FOV scanned by the raster scan pattern 2420, which has scan lines from right to left, vertical lines (not shown), and scan lines from left to right. Typically, dozens or even hundreds of transmissions (and thus dozens or even hundreds of scan segment time windows) occur during a single scan line.

[0264] According to one embodiment, the scanner is configured to output a transmit signal along a transmit optical axis and receive reflections along one or more receive optical axes that are substantially parallel to the transmit optical axis.

[0265] According to one embodiment, for each reflection, the angular difference between the transmit optical axis and the receive optical axis associated with the reflection does not exceed the angular difference associated with the difference in scanner states between (a) the scanner state during the transmission of the transmit signal and (b) the scanner state during the reception of the reflection. Examples of scanner state differences are shown in Fig.15 and Fig.16 —note the different angles at which the polygon 801 is located at different time points.

[0266] Fig.35 A method 3500 for operating a lidar system is shown.

[0267] According to one embodiment, method 3500 includes a step 2210 of transmitting a transmit signal by an optical device of the lidar system using a scanner.

[0268] According to one embodiment, step 2210 is followed by a step 2220 of receiving, by the optical device and using the scanner, reflections from an object during a scan segment time window of a scan segment corresponding to the field of view (FOV) of the lidar system.

[0269] According to one embodiment, step 2220 is followed by a step 3530 of sensing the reflection by a sensing unit of the lidar system, the sensing unit including a plurality of sensing elements.

[0270] According to one embodiment, method 3500 further includes step 3540 of controlling, by a controller, the sensing unit, wherein the controlling includes (a) activating the plurality of sensing elements before starting to receive the reflections, and (b) selectively deactivating at least some of the plurality of sensing elements based on a scan direction of the scan segment, thereby reducing the number of active sensing elements during the scan segment time window. The selective deactivation occurs during step 3530. Non-limiting examples of (a) and (b) are described in Fig.23 , Fig.24 and Fig.25 Shown in.

[0271] According to one embodiment, the controller 2106 is configured to selectively deactivate the set of sensing elements based at least in part on a sequence of sensing unit configurations represented by the configuration information 2120, each sensing unit configuration being associated with a duration for which the sensing unit configuration is applied.

[0272] According to one embodiment, the duration for which all sensing unit configurations are applied is the same.

[0273] According to one embodiment, the duration for which one sensing unit configuration is applied is different from the duration for which another sensing unit configuration is applied.

[0274] According to one embodiment, at least one sensing unit configuration is based on a fixed allocation of sensing elements of each sensing element set. The fixed allocation does not change over time.

[0275] According to one embodiment, at least one sensing unit configuration is based on a dynamic allocation of sensing elements of each sensing element set. This dynamic allocation changes over time and adapts to changes in the operation of the lidar system - such as changes in the position of the receiving window, etc.

[0276] According to one embodiment, the dynamic allocation is responsive to changes in the reflection positions associated with the misalignment.

[0277] According to one embodiment, the reduction in the number of active sensing elements is determined based on an instantaneous signal-to-noise ratio (SNR) associated with the active sensing elements. For example, at the beginning of the scan segment time window, the sensing unit receives stronger reflections and more sensing elements are active, while towards the end of the scan segment time window, fewer sensing elements are active—because the reflections are weaker.

[0278] According to one embodiment, the transmitted signal is a single light beam. See e.g. Fig.23 A single reflection 901 received at a given point in time.

[0279] According to one embodiment, the transmitted signal comprises a plurality of light beams. See e.g. Fig.24 and Fig.25A plurality of concurrently received reflections 901 - 1 to 901 - 4 received at a given point in time.

[0280] According to one embodiment, the FOV of the lidar system is scanned by multiple scanning segments.

[0281] According to one embodiment, there are at least two scanning sections among the plurality of scanning sections that exhibit the same scanning direction.

[0282] According to one embodiment, at least two of the plurality of scan sections exhibit different scan directions.See, for example, a LiDAR system FOV scanned by a raster scan pattern 2420 having a right-to-left scan line, a vertical line (not shown), and a left-to-right scan line.

[0283] According to one embodiment, method 3500 includes outputting a transmit signal along a transmit optical axis, and receiving, by a scanner, reflections along one or more receive optical axes substantially parallel to the transmit optical axis.

[0284] According to one embodiment, for each of the reflections, the angular difference between the transmit optical axis and the receive optical axis associated with the reflection does not exceed the angular difference associated with the scanner state difference between (a) the scanner state during transmission of the transmit signal and (b) the scanner state during reception of the reflection. Examples of scanner state differences are described in Fig.15 and Fig.16 801 at different points in time.

[0285] According to one embodiment, a non-transitory computer-readable medium storing instructions is provided, which once executed by a lidar system causes the lidar system to: transmit a transmit signal by an optics of the lidar system using a scanner; receive reflections from an object by the optics and using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; sense the reflections by a sensing unit of the lidar system, the sensing unit including a plurality of sensing elements; and control the sensing unit by a controller, wherein the controlling includes (a) activating the plurality of sensing elements before starting to receive the reflections, and (b) selectively deactivating at least some of the plurality of sensing elements based on a scan direction of the scan segment, thereby reducing the number of active sensing elements during the scan segment time window.

[0286] Fig.36 A method 2600 for operating a lidar system is shown.

[0287] According to one embodiment, method 2600 includes step 2610 of transmitting a signal by an optical device of a lidar system using a scanner.

[0288] According to one embodiment, step 2610 is followed by step 2620 of receiving reflections from the object by the optics and using the scanner during a scan segment time window corresponding to a scan segment of the field of view (FOV) of the lidar system.

[0289] According to one embodiment, step 2620 is followed by step 2630 of sensing the reflection by a sensing unit of the lidar system, the sensing unit comprising a plurality of sensing elements.

[0290] According to one embodiment, method 2600 includes step 2640: a controller of the lidar system selectively controls an activity state of a sensing element set in a plurality of sensing element sets during a scanning segment time window based on a sensing unit configuration sequence, each sensing unit configuration being associated with a duration for which the sensing unit configuration is applied.

[0291] According to one embodiment, step 2640 is performed (at least partially) in parallel with step 2630 .

[0292] According to one embodiment, method 2600 includes storing configuration information defining a sequence of sensing unit configurations in a local memory. See, e.g. Fig.33 Configuration information 2120.

[0293] According to one embodiment, different sensing unit configurations are associated with reception from objects located at different distance ranges from the LiDAR system.

[0294] According to one embodiment, the sensing unit configuration is determined based in part on the difference in scanning state between (a) the scanning state during the transmission time associated with the transmitted signal and (b) the scanning state during the reception time associated with the reflection. For example, the positions of the sensing elements are activated in response to the positions of the reflections, and the positions take into account the scanning difference. See, e.g. Fig.15 and Fig.16 .

[0295] According to one embodiment, a duration for which one of the sensing unit configurations is applied is different from a duration for which another of the sensing unit configurations is applied.

[0296] According to one embodiment, the duration of applying one of the sensing unit configurations is equal to the duration of applying another of the sensing unit configurations.

[0297] According to one embodiment, the controller 2106 of the lidar system 2300 is configured to selectively control the activity state of a sensing element set in a plurality of sensing element sets during a scanning segment time window based on a sensing unit configuration sequence, each sensing unit configuration being associated with a duration for which the sensing unit configuration is applied.

[0298] According to one embodiment, control may follow step 3540 and include (a) activating the plurality of sensing elements before beginning to receive reflections, and (b) selectively deactivating at least some of the plurality of sensing elements based on a scan direction of the scan segment, thereby reducing the number of active sensing elements during the scan segment time window.

[0299] According to one embodiment, control is different from step 3540. An example of a control scheme different from the example of step 3540 is shown in Fig.19 , Fig.21 , Fig. 22 , Fig.28 and Fig.29 For example, a sensing unit may be activated (during a scanning segment time window) after another sensing unit is deactivated (during the same scanning segment time window).

[0300] A non-transitory computer-readable medium storing instructions that, when executed by a lidar system, cause the lidar system to: (i) transmit a transmit signal by an optics of the lidar system using a scanner; (ii) receive reflections from an object by the optics and using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; (iii) sense the reflections by a sensing unit of the lidar system, the sensing unit comprising a plurality of sensing elements; and (iv) selectively control, by a controller of the lidar system, an active state of a set of sensing elements in a plurality of sets of sensing elements during the scan segment time window based on a sequence of sensing unit configurations, each sensing unit configuration being associated with a duration for which the sensing unit configuration is applied.

[0301] Any reference to vertical and horizontal applies to any other orientation with appropriate modifications.

[0302] Any reference to a method applies mutatis mutandis to a non-transitory computer-readable medium storing instructions for performing the method and / or to a system or device or unit configured to perform the method mutatis mutandis.

[0303] Any reference to a system or device or unit applies mutatis mutandis to a non-transitory computer-readable medium storing instructions executable by the system or device or unit and / or applies mutatis mutandis to a method executable by the system or device or unit.

[0304] Any reference to a non-transitory computer-readable medium applies mutatis mutandis to a method for executing instructions stored in a non-transitory computer-readable medium and / or to a system or device or unit configured to execute instructions stored in a non-transitory computer-readable medium mutatis mutandis.

[0305] The foregoing description has been presented for purposes of illustration. It is not exhaustive and is not limited to the precise forms or embodiments disclosed. Modifications and adaptations will be apparent to those skilled in the art in view of the specification and practice of the disclosed embodiments. In addition, although various aspects of the disclosed embodiments are described as being stored in a memory, those skilled in the art will appreciate that these aspects may also be stored on other types of computer-readable media, such as secondary storage devices, e.g., a hard disk or CD ROM, or other forms of RAM or ROM, USB media, DVD, Blu-ray or other optical drive media.

[0306] Computer programs based on the written description and disclosed methods are within the skill of experienced developers. Various programs or program modules can be created using any technology known to those skilled in the art, or can be designed in conjunction with existing software. For example, program segments or program modules can be designed in or by: .Net Framework, .Net Compact Framework (and related languages, such as Visual Basic, C, etc.), Java, C++, Objective-C, HTML, HTML / AJAX combination, XML, or HTML including Java applets.

[0307] In addition, although illustrative embodiments have been described herein, those skilled in the art will understand the scope of any and all embodiments with equivalent elements, modifications, omissions, combinations (e.g., combinations across aspects of various embodiments), adaptations and / or changes based on this disclosure. The limitations in the claims will be interpreted broadly based on the language employed in the claims and are not limited to the examples described in this specification or during the prosecution of this application. These examples should be interpreted as non-exclusive. In addition, the steps of the disclosed methods may be modified in any way, including by reordering steps and / or inserting or deleting steps. Therefore, the description and embodiments are to be considered illustrative only, with the true scope and spirit being indicated by the appended claims and the full scope of their equivalents.

Claims

1. A laser radar system, include: an optical device configured to (a) transmit a transmit signal using a scanner and (b) receive a reflection from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; a sensing unit comprising a plurality of sensing elements; and A controller is configured to (a) activate the plurality of sensing elements before commencing to receive the reflections, and (b) selectively deactivate at least some of the plurality of sensing elements based on a scan direction of the scan segment, thereby reducing a number of active sensing elements during the scan segment time window.

2. The laser radar system of claim 1, wherein the plurality of sensing elements comprises a plurality of sensing element sets, wherein the controller is configured to selectively deactivate a sensing element set in the plurality of sensing element sets.

3. The lidar system of claim 2, wherein each set of sensing elements is a row of sensing element groups.

4. The laser radar system of claim 2, wherein each sensing element set comprises segments of a row of multiple sensing element groups, wherein at least two of the segments of the row of multiple sensing element groups are displaced from each other.

5. A lidar system according to claim 4, wherein the lateral shift between at least two of the segments of the plurality of sensing element groups is selected to compensate for sensor unit misalignment.

6. A lidar system according to claim 2, wherein the controller is configured to selectively deactivate the set of sensing elements based at least in part on a sequence of sensing unit configurations, each sensing unit configuration being associated with a duration for which the sensing unit configuration is applied.

7. The laser radar system according to claim 6, in, The at least one sensing unit configuration is based on a fixed assignment of sensing elements of each sensing element set.

8. The laser radar system according to claim 6, in, The at least one sensing unit configuration is based on a dynamic allocation of sensing elements of each sensing element set.

9. A lidar system according to claim 8, wherein the dynamic allocation is responsive to changes in the reflection positions of the misaligned correlations.

10. The laser radar system of claim 6, comprising a local memory unit storing configuration information defining the sensing unit configuration sequence.

11. The laser radar system of claim 1, wherein the reduction in the number of active sensing elements is determined based on an instantaneous signal-to-noise ratio (SNR) associated with the active sensing elements.

12. The lidar system of claim 1, wherein the transmitted signal is a single light beam.

13. The lidar system of claim 1, wherein the transmitted signal comprises a plurality of light beams.

14. A laser radar system according to claim 1, wherein the FOV of the laser radar system is scanned by multiple scanning segments.

15. The laser radar system according to claim 14, wherein there are at least two scanning segments among the multiple scanning segments that exhibit the same scanning direction.

16. A laser radar system according to claim 14, wherein there are at least two scanning segments among the multiple scanning segments that exhibit different scanning directions.

17. The laser radar system of claim 1, wherein the scanner is configured to output the transmit signal along a transmit optical axis and to receive the reflection along one or more receive optical axes substantially parallel to the transmit optical axis.

18. A lidar system according to claim 17, wherein for each of the reflections, the angular difference between the transmit optical axis and the receive optical axis associated with the reflection does not exceed the angular difference associated with the scanner state difference between (a) the scanner state during transmission of the transmit signal and (b) the scanner state during reception of the reflection.

19. A method for operating a laser radar system, the method include: The optical device of the laser radar system transmits a signal using a scanner; receiving, by the optics and using the scanner, a reflection from an object during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; sensing the reflection by a sensing unit of the laser radar system, the sensing unit comprising a plurality of sensing elements; as well as The sensing unit is controlled by a controller, wherein the controlling includes (a) activating the plurality of sensing elements before starting to receive the reflection, and (b) selectively deactivating at least some of the plurality of sensing elements based on a scanning direction of the scanning segment, thereby reducing the number of active sensing elements during the scanning segment time window.

20. A non-transitory computer readable medium storing instructions that, when executed by a laser radar system, cause the laser radar system to: The optical device of the laser radar system transmits a signal using a scanner; receiving, by the optics and using the scanner, a reflection from an object during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; sensing the reflection by a sensing unit of the laser radar system, the sensing unit comprising a plurality of sensing elements; and The sensing unit is controlled by a controller, wherein the controlling includes (a) activating the plurality of sensing elements before starting to receive the reflection, and (b) selectively deactivating at least some of the plurality of sensing elements based on a scanning direction of the scanning segment, thereby reducing the number of active sensing elements during the scanning segment time window.

21. A laser radar system, include: an optical device configured to (a) transmit a transmit signal using a scanner and (b) receive a reflection from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; a sensing unit, the sensing unit comprising a plurality of sensing elements, the plurality of sensing elements comprising a plurality of sensing element sets; and A controller is configured to selectively control an activity state of a set of sensing elements in a plurality of sets of sensing elements during the scan segment time window based on a sequence of sensing element configurations, each sensing element configuration being associated with a duration for applying the sensing element configuration.

22. The laser radar system of claim 21, comprising a local memory unit configured to store configuration information defining the sensing unit configuration sequence.

23. A lidar system according to claim 21, wherein different sensing unit configurations are associated with reception from objects located at different distance ranges from the lidar system.

24. The laser radar system of claim 21, wherein the plurality of sensing elements comprises a plurality of sensing element sets, wherein the controller is configured to selectively control an activity state of a sensing element set in the plurality of sensing element sets.

25. The laser radar system of claim 24, wherein each set of sensing elements is a row of sensing element groups.

26. The laser radar system of claim 24, wherein each sensing element set comprises segments of a row of multiple sensing element groups, wherein at least two of the segments of the row of multiple sensing element groups are displaced from each other.

27. A lidar system according to claim 24, wherein the sensing unit configuration is determined in part based on the scanning state difference between (a) a scanning state during a transmission time associated with the transmitted signal and (b) a scanning state during a reception time associated with the reflection.

28. The laser radar system according to claim 27, in, The scanner includes a rotating polygon, the scanning state during the transmission time is related to the angle of the transmission polygon facet that deflects the transmission signal, and the scanning state during the reflection reception time is related to the angle of the reception polygon facet that deflects the reflection signal.

29. A lidar system according to claim 27, wherein the controller is configured to compensate for the state of the scanning difference.

30. The lidar system of claim 27, wherein the sensing unit configuration is determined based in part on a lidar system misalignment relative to the optical device.

31. A lidar system according to claim 27, wherein the sensing unit configuration is determined in part based on one or more misalignments based on environmental conditions.

32. The laser radar system according to claim 27, in, A duration for which one of the sensing unit configurations is applied is different from a duration for which another of the sensing unit configurations is applied.

33. The laser radar system according to claim 27, in, The duration of applying one of the sensing unit configurations is equal to the duration of applying the other of the sensing unit configurations.

34. A method for operating a laser radar system, the method include: The optical device of the laser radar system transmits a signal using a scanner; receiving, by the optics and using the scanner, a reflection from an object during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; sensing the reflection by a sensing unit of the laser radar system, the sensing unit comprising a plurality of sensing elements; as well as The controller of the laser radar system selectively controls the activity state of a sensing element set in a plurality of sensing element sets during the scanning segment time window based on a sequence of sensing element configurations, each sensing element configuration being associated with a duration for applying the sensing element configuration.

35. The method of claim 34, comprising storing configuration information defining the sensing unit configuration sequence in a local memory.

36. The method according to claim 34, in, Different sensing unit configurations are associated with reception from objects located at different distance ranges from the lidar system.

37. The method according to claim 34, in, The sensing unit configuration is determined based in part on a scanning state difference between (a) a scanning state during a transmit time associated with the transmit signal and (b) a scanning state during a receive time associated with the reflection.

38. The laser radar system according to claim 34, in, A duration for which one of the sensing unit configurations is applied is different from a duration for which another of the sensing unit configurations is applied.

39. A laser radar system according to claim 34, wherein the duration of applying one of the sensing unit configurations is equal to the duration of applying another of the sensing unit configurations.

40. A non-transitory computer readable medium storing instructions that, when executed by a laser radar system, cause the laser radar system to: The optical device of the laser radar system transmits a signal using a scanner; receiving, by the optics and using the scanner, a reflection from an object during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; sensing the reflection by a sensing unit of the laser radar system, the sensing unit comprising a plurality of sensing elements; as well as The controller of the laser radar system selectively controls the activity state of a sensing element set in a plurality of sensing element sets during the scanning segment time window based on a sequence of sensing element configurations, each sensing element configuration being associated with a duration for applying the sensing element configuration.

41. A laser radar system, include: an optical device configured to (a) transmit a transmit signal using a scanner and (b) receive a reflection from an object using the scanner during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; A sensing unit, wherein the sensing unit is configured to selectively sense the reflection by: avoiding sensing at least a portion of a first reflection from an object located within one or more first distance ranges from the lidar system; as well as An entire second reflection is sensed, the second reflection coming from an object located within one or more second distance ranges from the lidar system.

42. The laser radar system of claim 40, comprising a controller configured to keep active a sensing element expected to receive the second reflection and to keep inactive a sensing element expected to receive at least a portion of the first reflection.

43. A laser radar system according to claim 41, wherein the one or more first distance ranges include a short distance range associated with reflections from an object, the object being associated with a distance from the laser radar system that does not exceed a first distance threshold.

44. A laser radar system according to claim 43, wherein the range of the first distance threshold is between one meter and fifteen meters.

45. The laser radar system according to claim 43, in, The sensing unit is configured to sense only another portion of each reflection associated with the short distance range.

46. ​​The laser radar system of claim 41 further includes avoiding sensing an entire ghost reflection associated with another transmit signal transmitted during a previous scan segment time window.

47. The lidar system of claim 41 further comprising a controller configured to define a reduced receive window spanning along only a portion of the sensing unit.

48. A lidar system according to claim 41, wherein the one or more first distance ranges include a long distance range associated with reflections from an object, the object being associated with a distance from the lidar system that exceeds a second distance threshold.

49. A method for operating a laser radar system, the method include: The optical device of the laser radar system transmits a signal using a scanner; receiving, by the optics and using the scanner, a reflection from an object during a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system; as well as selectively sensing reflections by a sensing unit of the laser radar, wherein the selective sensing comprises (i) avoiding sensing at least a portion of a first reflection from an object located within one or more first distance ranges from the laser radar system; and (ii) sensing an entire second reflection from an object located within one or more second distance ranges from the lidar system.

50. A non-transitory computer readable medium storing instructions that, when executed by a laser radar system, cause the laser radar system to: The optical device of the laser radar system transmits a signal using a scanner; During a scan segment time window corresponding to a scan segment of a field of view (FOV) of the lidar system, a reflection from an object is received by the optics and using the scanner ； as well as The reflections are selectively sensed by a sensing unit of the laser radar, wherein the selective sensing comprises (i) avoiding sensing at least a portion of a first reflection from an object located within one or more first distance ranges from the laser radar system; and (ii) sensing an entire second reflection from an object located within one or more second distance ranges from the lidar system.

51. A laser radar system, include: an array of sensing element circuits (SECs), the array comprising a plurality of sub-arrays of SECs; Readout unit; A coupling unit; and a controller configured to select a first subarray and a second subarray from the plurality of subarrays, the selection being based on expected locations of concurrently impinging reflections from objects illuminated by a transmit signal transmitted by the laser radar system, wherein the second subarray is horizontally and vertically displaced from the first subarray; wherein the first subarray and the second subarray are configured to generate a detection signal indicative of the reflection; wherein the coupling unit is configured to couple the readout unit to the first subarray and the second subarray; and Wherein the readout unit is configured to read one or more readout unit input signals indicative of the detection signal.

52. A lidar system according to claim 51, wherein the selection is also based on one or more lidar system misalignments.

53. A lidar system according to claim 51, wherein the controller is further configured to deactivate at least one additional sub-array of the array.

54. The laser radar system of claim 51, in, The coupling unit includes a horizontal shift element configured to couple the first sub-array and the second sub-array.

55. The laser radar system of claim 54, further comprising a power shifting element configured to couple the first sub-array power conduit to the second sub-array power conduit.

56. A laser radar system according to claim 54, wherein the horizontal shifting element is also configured to couple the first subarray to a third subarray, and the third subarray is horizontally and vertically shifted from the first subarray and at least horizontally shifted from the second subarray.

57. The laser radar system according to claim 51 further includes a power supply unit, which is configured to supply power to the first sub-array and the second sub-array while preventing power from being supplied to at least one additional sub-array of the SEC array.

58. A lidar system according to claim 51, wherein the SEC includes multiple outputs for outputting detection signals generated by the SEC.

59. A method, include: receiving a selection of a first subarray and a second subarray from a plurality of subarrays of a sensing element circuit (SEC) array of a sensing unit, the selection based on expected locations of concurrently impinging reflections from objects illuminated by a transmit signal transmitted by a laser radar system, wherein the second subarray is horizontally and vertically displaced from the first subarray; coupling a readout unit to the first sub-array and the second sub-array by a coupling unit; generating a detection signal by the first sub-array and the second sub-array, the detection signal indicating the reflection; as well as One or more readout cell input signals indicative of the detection signal are read by the readout circuit.

60. A non-transitory computer medium storing instructions for: receiving a selection of a first subarray and a second subarray from a plurality of subarrays of a sensing element circuit (SEC) array of a sensing unit, the selection based on expected locations of concurrently impinging reflections from objects illuminated by a transmit signal transmitted by a laser radar system, wherein the second subarray is horizontally and vertically displaced from the first subarray; coupling a readout unit to the first sub-array and the second sub-array by a coupling unit; generating a detection signal by the first sub-array and the second sub-array, the detection signal indicating the reflection; as well as One or more readout cell input signals indicative of the detection signal are read by the readout circuit.

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