Lidar system

Abstract

A LiDAR system includes: a housing containing a scanning unit and a detection unit; the housing further includes an optical window made of silicon with higher thermal conductivity than conventional glass; the optical window further includes: an anti-wear coating applied to at least one outer surface of the optical window; and at least one heating element located at the edge of at least one outer surface of the optical window.

Description

[0001] Cross-reference

[0002] This application claims priority to Russian Patent Application No. 2024140322 entitled “LIDAR SYSTEM”, filed on December 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This technology generally relates to optical detection and ranging systems (LIDAR); and more particularly to a LIDAR system. Background Technology

[0004] An autonomous vehicle (SDC) is a vehicle capable of autonomously navigating private and / or public spaces. Using a sensor system that detects the SDC's position and / or its surroundings, logic within or associated with the SDC controls the SDC's speed, propulsion, braking, and steering based on the sensor-detected position and environment.

[0005] Various sensor systems can be used by the SDC, such as, but not limited to, camera systems, radar systems, and light detection and ranging (LiDAR) systems. Different sensor systems can be employed to capture different information and / or information in different formats regarding the SDC's location and surrounding environment. For example, a camera system can be used to capture image data about the SDC's surrounding environment. In another example, a LiDAR system can be used to capture point cloud data not only for ranging objects but also for constructing a 3D map representation of the SDC's surrounding environment and other potential objects in its vicinity. The camera system and LiDAR system are implemented using one or more optical elements for data capture. Weather conditions such as rain and dust can obscure the optical elements of one or more sensor systems, reducing the quality of the information collected by the sensor systems for the safe operation of the SDC.

[0006] U.S. Patent Application No. 2019 / 210570 discloses a computer-based system for determining the amount of occlusive material on a vehicle sensor; determining the temperature of the vehicle sensor; and actuating a liquid pump and an air pump based on the amount of occlusive material and the temperature, the liquid pump being arranged to pump liquid to the vehicle sensor and the air pump being arranged to pump air to the vehicle sensor.

[0007] To improve object detection in autonomous vehicles, LiDAR can be used in conjunction with cameras to visualize objects in LiDAR point clouds and camera images.

[0008] The LiDAR system used by Yandex SDC consists of a light source, a scanning unit, and a detection unit. The scanning unit may include a galvanometer mirror and a prism with n facets.

[0009] The light beam emitted by the light source is then reflected by the scanning unit and propagates to surrounding objects. The light beam reflected by the surrounding objects is transmitted back and detected by the detection unit. When the light source emits a light beam within a predetermined wavelength range, the detection unit then receives an input light beam (reflected from surrounding objects) within the same wavelength range.

[0010] In addition, the LiDAR device enclosed in the housing contains a window through which the light beam is emitted and received.

[0011] At low temperatures, window surfaces may freeze to a point where they cannot melt unless the window itself is broken or damaged.

[0012] U.S. Patent Application Publication No. US20220171026A1 discloses a replaceable anti-reflective label comprising a substrate less than 5 mm thick, an anti-reflective coating on one side of the substrate, and a coupling surface for detachably coupling the anti-reflective label to a window of a LiDAR system.

[0013] Chinese Patent Application Publication No. CN110095828A discloses an optical device with specific optical and engineering properties. One type of optical device comprises a substrate and a coating applied to the substrate. This optical device is characterized by a first side exposed to the environment and a second side not exposed.

[0014] US Patent No. 10377373B2 discloses a vehicle and a laser detection and ranging (LADAR) sensor assembly system. This system utilizes forward-mounted long-range and short-range LADAR sensors installed in auxiliary lights to identify obstacles and potential collisions with the vehicle. A low-cost assembly is developed that can be easily installed within a cutout in the vehicle's body panel and connected to the vehicle's electrical and computer systems via vehicle wiring harnesses. The vehicle has a digital processor that interprets 3D data received from the LADAR sensor assembly and controls vehicle subsystems for steering, braking, acceleration, and suspension. The vehicle's digital processor uses the 3D data and the vehicle control subsystems to avoid collisions and determine the optimal steering path.

[0015] Japanese Patent Application Publication No. JP2020148973A discloses an optical deflection element in which rotating a movable unit comprising a reflective surface deflects light incident on the reflective surface. The movable unit is formed of a first layer and a second layer. The first layer has a reflective surface, and the entire first layer, except for the reflective surface, is formed of only one of silicon carbide, aluminum oxide, sapphire, silicon nitride, zirconium oxide, diamond, and compounds having these as main components.

[0016] U.S. Patent Application Publication No. US2021181547A1 discloses a LiDAR device comprising: an optical emitter configured to emit an optical signal having a wavelength varying based on the temperature of the optical emitter; and / or an optical filter element configured to receive reflections of the optical signal, the optical filter element having a passband varying based on the temperature of the optical filter element; a thermal controller configured to generate a thermal control signal in response to a temperature measurement associated with the optical emitter or the optical filter element; and a temperature control element configured to adjust the temperature of the optical emitter or the optical filter element in response to the thermal control signal.

[0017] International Patent Application Publication No. WO2023091305A1 discloses a window for a sensing system comprising a first layered film and a second layered film. The first and second layered films each comprise alternating layers of materials with lower and higher refractive indices. The first layered film includes a scratch-resistant layer, such that when indented on the first layered film, the window exhibits a maximum nanoindentation hardness greater than or equal to 10 GPa. The materials and thicknesses of the first and second layered films are chosen such that the window exhibits relatively high transmittance and low reflectance in two distinct wavelength ranges of interest.

[0018] In an article titled "Optical Protective Window Design and Material Selection Issues in the Multi-Sensor Electro-Optical Surveillance Systems," authored by Vujic et al. and published in Sensor in March 2023, methods and practical recommendations for defining optical protective window specifications in multi-sensor imaging systems using systems engineering approaches are disclosed. Additionally, a set of data and computational tools are provided for analysis to determine appropriate window material selection and define optical protective window specifications in multi-sensor systems.

[0019] In an article titled "On-Chip Diamond Raman Laser" authored by Latawiec et al. and published in Optica in October 2015, an on-chip Raman laser based on a fully integrated, high-quality diamond raceway microresonator embedded in silicon dioxide is disclosed. Pumped at telecommunication wavelengths, the article demonstrates that the Stokes output is discretely tunable over a bandwidth of approximately 100 nm within a 2 μm band, with an output power >250 μW, extending the functionality of diamond Raman lasers to the wavelength range of interest at the edge of the mid-infrared spectrum. Continuous-wave operation with a pump threshold power of only approximately 85 mW in the feed waveguide, and continuous, mode-free hopping tuning at approximately 7.5 GHz are demonstrated in a compact, integrated optical platform. Summary of the Invention

[0020] The developers have designed methods and devices to overcome at least some of the shortcomings of previous technical solutions.

[0021] In a broad sense, at least some non-limiting embodiments of this technology are intended to expand the number of specific purpose technical means. Specifically, at least some non-limiting embodiments of this technology are intended to increase the number of LiDARs with optical windows that can be uniformly heated to prevent their surfaces from freezing. In at least some non-limiting embodiments of this technology, the optical window can be uniformly heated over the entire surface (or a portion thereof), which can help prevent the accumulation of frozen elements (e.g., ice). In some non-limiting embodiments of this technology, additionally or alternatively, the window is protected by a reinforcing coating to make it more resistant to external impacts.

[0022] According to at least some non-limiting embodiments of the present technology, a LiDAR system is provided, the LiDAR system including an optical window made of silicon, the optical window having a heating element. In some non-limiting embodiments of the present technology, the optical window further includes an anti-wear protective coating. For example, the protective coating may be made of a material selected to provide anti-thermal conductivity properties.

[0023] Compared to conventional glass, silicon is characterized by increased thermal conductivity, making it suitable for conducting heat from heating elements to its entire surface. It is known in the art that such materials (silicon) are more susceptible to scratches and can be damaged by elements such as small stones and dust. To address this issue, non-limiting embodiments of the present technology consider adding an abrasion-resistant diamond-like carbon (DLC) coating to enhance the optical window.

[0024] Using pure silicon is counterintuitive because it has low mechanical strength and is prone to degradation over time.

[0025] Non-limiting embodiments of this technology relate to a LiDAR that includes an optical window made of silicon, used in place of a conventional glass window.

[0026] According to a non-limiting embodiment of the present technology, silicon materials may be selected to have the transmission spectrum of commercially available silicon.

[0027] According to a non-limiting embodiment of the present technology, the heating element can be installed in a manner that does not obstruct the field of view of the LiDAR sensor.

[0028] According to a non-limiting embodiment of the present technology, the main difference between silicon-based optical windows and conventional glass (which also contains silicon, but in oxide (SiO2)) is that silicon itself is a crystalline material, while conventional glass is an amorphous material.

[0029] According to a non-limiting embodiment of this technology, diamond-like carbon (DLC) can be used. It is characterized by its superior resistance to salts, acids, alkalis, and most organic solvents. Its high mechanical hardness and low coefficient of friction make it extremely resistant to the effects of abrasion. Furthermore, the low coefficient of friction of DLC minimizes the adhesion of contaminants, thereby facilitating the cleaning process.

[0030] According to a non-limiting embodiment of the present technology, the DLC coating is used to protect external optical surfaces from abrasion caused by airborne dust particles, seawater and salt, engine oil and fuel, high humidity, improper handling, etc.

[0031] According to a non-limiting embodiment of the present technology, a DLC film can be used. The DLC film is selected such that it is characterized by a moderate level of absorption and scattering across the entire infrared wavelength range. In the IR range, the refractive index of the DLC film is between about 1.8 and 2.2.

[0032] In the context of this specification, the term "light source" refers broadly to any device configured to emit radiation, such as a radiated signal in the form of a beam, including, but not limited to, a beam containing radiation of one or more corresponding wavelengths within the electromagnetic spectrum. In one instance, a light source may be a "laser source." Thus, a light source may include lasers, such as solid-state lasers, laser diodes, high-power lasers, or alternative light sources, such as light-emitting diode (LED)-based sources. Some (non-limiting) examples of laser sources include: Fabry-Perot laser diodes, quantum well lasers, distributed Bragg reflector (DBR) lasers, distributed feedback (DFB) lasers, fiber lasers, or vertical-cavity surface-emitting lasers (VCSELs). Additionally, laser sources may emit beams of different formats, such as light pulses, continuous wave (CW), quasi-CW, etc. In some non-limiting examples, a laser source may include a laser diode configured to emit light with wavelengths between about 1.1 micrometers and 1.6 micrometers. Unless otherwise indicated, the term "about" with respect to numerical values ​​is defined as a variation of up to 10% relative to the stated value.

[0033] In the context of this specification, "output beam" may also be referred to as a radiation beam, such as a beam generated by a radiation source and guided toward the region of interest. The output beam may have one or more parameters, such as: beam duration, beam angular dispersion, wavelength, instantaneous power, photon density at different distances from the light source, average power, beam power intensity, beam width, beam repetition rate, beam sequence, pulse duty cycle, wavelength, or phase. The output beam may be unpolarized or randomly polarized, may not have a specific or fixed polarization (e.g., polarization may vary over time), or may have a specific polarization (e.g., linear, elliptical, or circular polarization).

[0034] In the context of this specification, "input beam" is radiation or light that typically enters the system after being reflected from one or more objects. "Input beam" may also be referred to as a radiation beam or a beam. Reflection means that at least a portion of the output beam incident on one or more objects bounces off those objects. The input beam may have one or more parameters, such as: time of flight (i.e., the time from emission to detection), instantaneous power (e.g., power characteristics), average power over the entire return pulse, photon distribution / signal over the return pulse period, and phase shift or frequency shift, etc. Depending on the specific application, some of the radiation or light collected in the input beam may originate from sources other than the reflected output beam. For example, at least some portions of the input beam may contain optical noise from the surrounding environment (including scattered sunlight) or other light sources outside the system.

[0035] In the context of this specification, the term “surrounding environment” for a given vehicle refers to the area or volume around the given vehicle, including a portion of its current environment, which can be accessed for scanning using one or more sensors mounted on the given vehicle, for example, to generate a 3D map of such surrounding environment or to detect objects therein.

[0036] In the context of this specification, "diamond-like carbon (DLC)" refers to a class of amorphous carbon materials that exhibit some of the typical properties of diamond. These properties include high hardness, chemical inertness, low friction, and high abrasion resistance. DLC can be used as a thin-film coating to enhance the surface properties of various materials, making them more durable and resistant to corrosion, wear, and erosion.

[0037] In at least one aspect of the present technology, a LiDAR system is provided, comprising: a housing including a scanning unit and a detection unit, the housing further including an optical window made of silicon with higher thermal conductivity than conventional glass; the optical window further including: an anti-wear coating applied to at least one outer surface of the optical window; and at least one heating element located at the edge of at least one outer surface of the optical window.

[0038] In some embodiments of the LiDAR system, the silicon is optical-grade silicon.

[0039] In some embodiments of the LiDAR system, the silicon is pure silicon.

[0040] In some embodiments of the LiDAR system, the anti-wear coating is diamond-like carbon (DLC) applied to at least one outer surface of the optical window to provide anti-wear properties for the optical window of the LiDAR system.

[0041] In some embodiments of the LiDAR system, the wear-resistant coating is either an oxide coating or a salt coating.

[0042] In some embodiments of the LiDAR system, the oxide coating is Al2O3.

[0043] In some embodiments of the LiDAR system, the salt coating is one of ZnS, YF3-ZnS, and YbF3-ZnS.

[0044] In some embodiments of the LiDAR system, the at least one heating element is a resistance heating element.

[0045] In some embodiments of the LiDAR system, the resistance heating element is a nickel-chromium alloy wire.

[0046] In some embodiments of the LiDAR system, the at least one heating element is a nozzle configured to guide a flow of hot air over the optical window.

[0047] In some embodiments of the LiDAR system, an anti-reflective coating is applied to at least one inner surface of the optical window to counteract optical radiation within the operating wavelength range of the LiDAR system.

[0048] In some embodiments of the LiDAR system, the housing further includes a filter configured to block signals with wavelengths outside the operating wavelength range of the LiDAR system and to transmit signals with wavelengths within the operating wavelength range of the LiDAR system.

[0049] In the context of this specification, a “server” is a computer program that runs on suitable hardware and is capable of receiving and executing requests (e.g., from electronic devices) over a network, or enabling such requests to be executed. The hardware may be implemented as a physical computer or a physical computer system, but neither is necessary for this technology. In this context, the use of the term “server” does not imply that every task (e.g., a received instruction or request) or any particular task will be received, executed, or caused to be executed by the same server (i.e., the same software and / or hardware); it is intended to indicate that any number of software elements or hardware devices may be involved in receiving / sending, executing, or causing the execution of any task or request, or the result of any task or request; and all such software and hardware may be one server or multiple servers, both of which are included within the phrase “at least one server.”

[0050] In the context of this specification, "electronic device" means any computer hardware capable of running software suitable for the relevant task at hand. In the context of this specification, the term "electronic device" implies that the device can act as a server for other electronic devices; however, this is not necessarily the case for this technology. Therefore, some (non-limiting) examples of electronic devices include self-driving units, personal computers (desktops, laptops, netbooks, etc.), smartphones and tablets, and network equipment such as routers, switches, and gateways. It should be understood that, in this context, the fact that a device functions as an electronic device does not mean that it cannot function as a server for other electronic devices.

[0051] In the context of this specification, the term "information" includes information of any nature or kind that can be stored in a database. Therefore, information includes, but is not limited to, visual works (e.g., maps), audiovisual works (e.g., images, films, recordings, presentations, etc.), data (e.g., location data, weather data, traffic data, digital data, etc.), text (e.g., opinions, comments, questions, messages, etc.), documents, spreadsheets, etc.

[0052] In the context of this specification, the words “first,” “second,” “third,” etc., are used as adjectives only to distinguish the nouns they modify, and not to describe any specific relationship between those nouns. Furthermore, as discussed in other contexts herein, references to “first” and “second” elements do not preclude the two elements from being the same actual real-world element.

[0053] Each implementation of this technology has at least one of the above-mentioned objectives and / or aspects, but not necessarily all of them. It should be understood that some aspects of this technology resulting from attempts to achieve the above objectives may not satisfy these objectives and / or may satisfy other objectives not specifically listed herein.

[0054] Additional and / or alternative features, aspects and advantages of embodiments of the present technology will become apparent from the following description, drawings and appended claims. Attached Figure Description

[0055] These and other features, aspects, and advantages of the present technology will be better understood from the following description, the appended claims, and the accompanying drawings, wherein:

[0056] Figure 1 A schematic diagram depicts an example computer system configurable for implementing certain non-limiting embodiments of the present technology.

[0057] Figure 2 A schematic diagram depicting a networked computing environment applicable to certain non-limiting embodiments of the present technology.

[0058] Figure 3 Examples of transmission of commercially available silicon in the spectral range of 1 to 25 micrometers for a sample with a thickness of 5 mm, illustrating certain non-limiting embodiments applicable to this technology (https: / / www.tydexoptics.com / materials1 / for_transmission_optics / silicon / ).

[0059] Figure 4 Examples of transmission in the spectral range of 2 to 14 micrometers of commercially available silicon grown by zone melting (FZ-Si) and optical Czochralski (OCz-Si) for samples with different thickness values ​​are illustrated in certain non-limiting embodiments applicable to this technology (https: / / www.tydexoptics.com / materials1 / for_transmission_optics / silicon / ).

[0060] Figure 5A top view illustrating the optical window of a LiDAR with a DLC coating and an anti-reflective coating, applicable to certain non-limiting embodiments of the present technology.

[0061] Figure 6 A side view illustrating the optical window of a LiDAR with a DLC coating and an anti-reflective coating, applicable to certain non-limiting embodiments of the present technology. Detailed Implementation

[0062] The examples and conditional language listed in this document are primarily intended to help readers understand the principles of this technology, rather than limiting its scope to such specific examples and conditions. It should be understood that those skilled in the art can design various arrangements, and although not explicitly described or shown in this document, these arrangements embody the principles of this technology and are included within its spirit and scope.

[0063] Furthermore, for ease of understanding, the following description illustrates a relatively simplified implementation of this technology. As those skilled in the art will understand, various implementations of this technology may be more complex.

[0064] In some cases, examples of modifications that are considered helpful to the present technology may also be described. This is done merely to aid understanding and, likewise, not to limit the scope of the present technology or to define its boundaries. These modifications are not an exhaustive list, and those skilled in the art may make other modifications while still remaining within the scope of the present technology. Furthermore, the absence of examples of modifications should not be construed as meaning that no modifications are possible and / or that what is described is the only way to implement the elements of the present technology.

[0065] Furthermore, all statements herein that illustrate the principles, aspects, and implementation methods of the present technology, and their specific examples, are intended to encompass both their structural and functional equivalents, whether currently known or to be developed in the future. Therefore, for example, those skilled in the art will understand that any block diagram herein represents a conceptual diagram of an illustrative circuit system embodying the principles of the present technology. Similarly, it will be understood that any flowchart, flow diagram, state transition diagram, pseudocode, and the like represent various processes that can be substantially represented in computer-readable media and executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0066] The functions of the various components shown in the diagram, including any functional blocks labeled "processor," can be provided using dedicated hardware and hardware capable of executing software associated with appropriate software. When provided by a processor, these functions can be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may share the functionality. Furthermore, the explicit use of the terms "processor" or "controller" should not be construed as referring specifically to hardware capable of executing software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, network processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), read-only memory (ROM), random access memory (RAM), and non-volatile storage devices for storing software. Other conventional and / or custom hardware may also be included.

[0067] A software module, or a module that is only implied to be software, may be represented herein as a flowchart element or any combination of other elements indicating process steps and / or textual descriptions of performance. Such modules may be implemented by hardware, whether explicitly or implicitly shown.

[0068] Having established these fundamental concepts, we will now consider some non-limiting examples to illustrate various implementation schemes of this technology.

[0069] Original Reference Figure 1 The diagram illustrates a computer system 100 applicable to some embodiments of the present technology. The computer system 100 includes various hardware components, including one or more single-core or multi-core processors represented by a processor 110, a solid-state drive 120, and a memory 130 (which may be random access memory or any other type of memory).

[0070] Communication between the various components of the computer system 100 can be achieved via one or more internal and / or external buses (not shown) (e.g., PCI bus, Universal Serial Bus, IEEE 1394 "FireWire" bus, SCSI bus, Serial ATA bus, etc.), with various hardware components electrically coupled to said buses. According to embodiments of the present technology, the solid-state drive 120 stores program instructions adapted to be loaded into memory 130 and executed by processor 110 to determine the presence of an object. For example, the program instructions may be part of a vehicle control application program executable by processor 110. It should be noted that the computer system 100 may have additional and / or optional components (not depicted), such as network communication modules, localization modules, and the like.

[0071] In some non-limiting embodiments of this technology, computer system 100 may be implemented by any conventional personal computer, controller, and / or electronic device (e.g., server, controller unit, control device, monitoring device, etc.) and / or any combination thereof suitable for the relevant task at hand. In some other embodiments, computer system 100 may be an "off-the-shelf" general-purpose computer system. In some non-limiting embodiments of this technology, computer system 100 may also be distributed across multiple systems. Computer system 100 may also be specifically designed for implementation of this technology. As will be understood by those skilled in the art, various variations regarding how computer system 100 may be considered without departing from the scope of this technology.

[0072] refer to Figure 2 This describes a networked computing environment 200 including a vehicle 220, applicable to some non-limiting embodiments of a LiDAR system 300. The networked computing environment 200 includes electronic devices 210 associated with the vehicle 220 and / or with a user (not depicted) associated with the vehicle 220 (e.g., the operator of the vehicle 220). The environment 200 also includes a server 235 communicating with the electronic devices 210 via a communication network 240 (e.g., the Internet or similar, as will be described in more detail below).

[0073] In at least some non-limiting embodiments of this technology, electronic device 210 is communicatively coupled to the control system of vehicle 220. Electronic device 210 may be arranged and configured to control different operating systems of vehicle 220, including (but not limited to): ECU (engine control unit), steering system, braking system, and signal and lighting system (i.e., headlights, brake lights, and / or turn signals). In this embodiment, vehicle 220 may be an autonomous vehicle 220.

[0074] In some non-limiting embodiments of this technology, the networked computing environment 200 may include GPS satellites (not depicted) that transmit GPS signals to and / or receive GPS signals from the electronic device 210. It will be understood that this technology is not limited to GPS and positioning technologies other than GPS may be employed. It should be noted that GPS satellites may be omitted entirely.

[0075] The vehicle 220 associated with electronic device 210 can be any transport vehicle for recreational or other purposes, such as a private or commercial car, truck, motorcycle, or the like. Although vehicle 220 is depicted as a land vehicle, this may not be the case in every non-limiting embodiment of the technology. For example, in some non-limiting embodiments of the technology, vehicle 220 can be a vessel, such as a boat, or an aircraft, such as a flying drone.

[0076] Vehicle 220 may be user-operated or an autonomous vehicle. In some non-limiting embodiments of this technology, vehicle 220 is considered to be implemented as an autonomous vehicle (SDC). It should be noted that the specific parameters of vehicle 220 are not limiting, and these specific parameters include, for example: vehicle manufacturer, vehicle model, vehicle year of manufacture, vehicle weight, vehicle dimensions, vehicle weight distribution, vehicle surface area, vehicle height, drivetrain type (e.g., 2x or 4x), tire type, braking system, fuel system, mileage, vehicle identification number, and engine size.

[0077] According to this technology, the implementation of electronic device 210 is not particularly limited. For example, electronic device 210 can be implemented as a vehicle engine control unit, a vehicle CPU, or a vehicle navigation device (e.g., TomTom). TM Garmin TM This includes tablet computers, personal computers built into vehicle 220, and the like. Therefore, it should be noted that electronic device 210 may be permanently or non-permanently associated with vehicle 220. Alternatively, electronic device 210 may be implemented in a wireless communication device, such as a mobile phone (e.g., a smartphone or cordless phone). In some embodiments, electronic device 210 has a display 270.

[0078] Depending on the specific embodiment, electronic device 210 may include Figure 2 The control unit 100 depicted herein may contain some or all of its components. In some embodiments, the electronic device 210 is an onboard computer device and includes a processor 110, a solid-state drive 120, and a memory 130. In other words, the electronic device 210 includes hardware and / or software and / or firmware, or a combination thereof, for processing data, as will be described in more detail below.

[0079] In some non-limiting embodiments of this technology, the communication network 240 is the Internet. In alternative non-limiting embodiments of this technology, the communication network 240 may be implemented as any suitable local area network (LAN), wide area network (WAN), private communication network, or the like. It should be clearly understood that the implementation of the communication network 240 is for illustrative purposes only. A communication link (not separately numbered) is provided between the electronic device 210 and the communication network 240, the implementation of which will depend particularly on how the electronic device 210 is implemented. By way of example and not limitation, in those non-limiting embodiments of this technology where the electronic device 210 is implemented as a wireless communication device such as a smartphone or navigation device, the communication link may be implemented as a wireless communication link. Examples of wireless communication links may include (but are not limited to) 3G communication network links, 4G communication network links, and the like. The communication network 240 may also use a wireless connection to the server 235.

[0080] In some embodiments of this technology, server 235 is implemented as a computer server and may include Figure 2 The control unit 100 may contain some or all of its components. In one non-limiting instance, server 235 is configured to run Microsoft... TM Windows Server TM Dell operating system TM PowerEdge TM A server, but may also be implemented in any other suitable hardware, software, and / or firmware or a combination thereof. In the non-limiting embodiments depicted in this technology, server 235 is a single server. In alternative non-limiting embodiments of this technology, the functionality of server 235 may be distributed and may be implemented via multiple servers (not shown).

[0081] In some non-limiting embodiments of this technology, the processor 110 of the electronic device 210 may communicate with the server 235 to receive one or more updates. Such updates may include, but are not limited to, software updates, map updates, route updates, weather updates, and the like. In some non-limiting embodiments of this technology, the processor 110 may also be configured to transmit certain operational data to the server 235, such as the route traveled, traffic data, performance data, and the like. Some or all of this data transmitted between the vehicle 220 and the server 235 may be encrypted and / or anonymized.

[0082] It should be noted that various sensors and systems can be used by electronic device 210 to collect information about the surrounding environment 250 of vehicle 220. For example... Figure 2 As seen, vehicle 220 may be equipped with multiple sensor systems 280. It should be noted that different sensor systems from the multiple sensor systems 280 can be used to collect different types of data about the surrounding environment 250 of vehicle 220.

[0083] In one example, the multiple sensor systems 280 may include various optical systems, particularly one or more camera-type sensor systems mounted to the vehicle 220 and communicatively coupled to the processor 110 of the electronics 210. More broadly, the one or more camera-type sensor systems may be configured to collect image data about various parts of the surrounding environment 250 of the vehicle 220. In some cases, the image data provided by the one or more camera-type sensor systems may be used by the electronics 210 to perform an object detection process. For example, the electronics 210 may be configured to feed the image data provided by the one or more camera-type sensor systems into an object detection neural network (ODNN) trained to locate and classify potential objects in the surrounding environment 250 of the vehicle 220.

[0084] In another example, the multiple sensor systems 280 may include one or more radar-type sensor systems mounted to the vehicle 220 and communicatively coupled to the processor 110. More broadly, the one or more radar-type sensor systems may be configured to use radio waves to collect data about various parts of the surrounding environment 250 of the vehicle 220. For example, the one or more radar-type sensor systems may be configured to collect radar data about potential objects in the surrounding environment 250 of the vehicle 220, such data potentially representing the distance of the object from the radar-type sensor system, the orientation of the object, the velocity and / or speed of the object, and the like.

[0085] In another example, in addition to the LiDAR system 300 described above, multiple sensor systems 280 may include one or more optical detection and ranging (LiDAR) systems mounted to the vehicle 220 and communicatively coupled to the processor 110. The LiDAR system 300 may be mounted or modified to the vehicle 220 in various locations and / or in various configurations to collect information about the surrounding environment 250 of the vehicle 220.

[0086] For example, depending on the implementation of vehicle 220 and LiDAR system 300, LiDAR system 300 may be installed inside the upper part of the windshield of vehicle 220. However, other locations for mounting LiDAR system 300 are also within the scope of this disclosure, including the rear window, side windows, front hood, roof, front grille, front bumper, or sides of vehicle 220.

[0087] It should be noted that the LiDAR system 300 or additional LiDAR systems can be installed in combination with one or more camera systems housed in a housing mounted on top of the vehicle 220.

[0088] According to at least some non-limiting embodiments of the present technology, the LiDAR system 300 includes an optical window made of silicon, rather than a conventional glass window.

[0089] According to non-limiting embodiments of this technology, silicon windows can be fabricated using one of several methods. For example:

[0090] • By Czochralski method (OCz-Si or optical grade Czochralski silicon);

[0091] • Through zone melting growth (FZ-Si or floating zone silicon).

[0092] It should be understood that other manufacturing methods may also be used. These silicon materials are transparent in the infrared range and allow the window to be heated by attaching any heating element inside the LiDAR housing. For example, the heating element (a plate with a resistor) can be mounted in the form of a frame along the perimeter on the inside of the window.

[0093] According to non-limiting embodiments of the present technology, silicon materials can be selected to feature properties of commercially available silicon. For example, a list of example properties of commercially available silicon is available from the webpage "https: / / www.tydexoptics.com / materials1 / for_transmission_optics / silicon / ":

[0094]

[0095]

[0096] refer to Figure 3 Example transmission spectra of commercially available optical-grade silicon in the spectral range of 1 to 25 micrometers for samples with a thickness of 5 mm, depicting certain non-limiting embodiments applicable to this technology (https: / / www.tydexoptics.com / materials1 / for_transmission_optics / silicon / ). In some non-limiting embodiments of this technology, pure silicon may be used instead of optical-grade silicon.

[0097] exist Figure 3 The transmission properties of two types of optical-grade silicon (floating zone silicon (FZ-Si) 301 and optically Czochralski silicon (OCz-Si) 302) are presented as examples. The graphs show how transmission varies with wavelength in micrometers. The data indicate that both types of optical-grade silicon inherently block electromagnetic radiation with wavelengths less than 1 micrometer, and that there is no significant difference in transmission between FZ-Si and OCz-Si when the two materials have equal resistance and conductivity over a wavelength range up to 5 micrometers.

[0098] refer to Figure 4 Examples of transmission spectra of commercially available silicon grown by zone melting (FZ-Si) and Czochralski (OCz-Si) methods in the range of 2 to 14 micrometers for samples with different thickness values, depicted in certain non-limiting embodiments applicable to this technology (https: / / www.tydexoptics.com / materials1 / for_transmission_optics / silicon / ).

[0099] exist Figure 4 The transmission spectra of floating zone silicon (FZ-Si) and optically Czochralski-grown silicon (OCz-Si) with different silicon thicknesses are depicted. The silicon material and corresponding thickness are as follows: 0.38 mm (curve). Figure 1 ) and 0.5mm (curve) Figure 2 FZ-Si; 0.5mm (curve) Figure 3 ), 1mm (curve) Figure 4) and 5mm (curve) Figure 5 The OCz-Si curve shows the percentage of transmission as a function of wavelength in micrometers.

[0100] Figure 4 Data indicates that for the wavelength range of 2 to 5 micrometers (typically used for high-temperature measurements and thermal imaging, extending to 6.5 micrometers), the transmittance of FZ-Si and OCz-Si is not significantly dependent on silicon thickness. Although Figure 4 The transmittance of FZ-Si and OCz-Si for wavelengths less than 2 micrometers is not shown, but it is well known in the art that even in the 1 to 2 micrometer wavelength range, their transmittance is negligible in dependence on silicon thickness. For wavelengths less than 1 micrometer, the transmittance is close to zero. This characteristic makes optical-grade silicon materials containing FZ-Si and OCz-Si particularly suitable for applications in these wavelength ranges where consistent transmittance is required regardless of material thickness. In some non-limiting embodiments of this technology, the LiDAR system 300 can be configured to operate in the 1.44 to 1.66 micrometer wavelength range. Therefore, optical-grade silicon materials containing FZ-Si and OCz-Si are suitable for implementing such non-limiting embodiments.

[0101] These silicon materials are transparent in the infrared range and allow the window to be heated by attaching any heating element inside the LiDAR housing. For example, the heating element (a plate with resistors) can be mounted in the form of a frame along the perimeter on the inside of the window.

[0102] refer to Figure 5 and Figure 6 The paper depicts a top view 500 and a side view 600 of the optical window of a LiDAR with a DLC coating and an anti-reflective coating, respectively, for certain non-limiting embodiments applicable to the present technology.

[0103] like Figure 5 and Figure 6 As described, the LiDAR's optical window is defined with a chamfer, for example, 502, and dimensions of approximately 74.0 mm long 507, 59.0 mm wide 505, and 3.0 mm thick 603. As those skilled in the art will understand, various embodiments of this technology can be of greater or lesser complexity. For example, it should be noted that the presence of the chamfer is not a necessary feature for achieving the technical objectives of this technology.

[0104] The central region, known as the "aperture" 501, allows laser beams and reflected signals to pass through.

[0105] The optical window of LiDAR comprises two surfaces, designated as surface A 602 and surface B 601, as follows: Figure 6As shown in the diagram. Each of surfaces A and B is coated with a special material. According to a non-limiting embodiment of the present technology, the surfaces are configured to optimize optical radiation in the operating wavelength range of 1.54 to 1.56 micrometers. Figure 6 As depicted, surface A is coated with an abrasion-resistant diamond-like carbon (DLC) coating with a thickness ranging from 0.15 to 0.30 micrometers in the wavelength range. At a wavelength of approximately 1.55 micrometers, this coating absorbs approximately 2% of the incident light energy and reflects approximately 2% of the incident light energy. In the wavelength range of 1.54 to 1.56 micrometers, the total signal loss (residual reflection loss) caused by the DLC coating is less than 5%. The DLC coating operates within an angle of incidence (AOI) range of -35 degrees to +35 degrees and a temperature range of -40°C to 85°C. Therefore, the DLC coating exhibits high transmittance at the operating wavelength (in some embodiments of this technology, the operating wavelength range is 1.54 to 1.56 micrometers). Outside the operating band, transmittance decreases.

[0106] In some non-limiting embodiments of this technology, instead of a DLC coating, a single-layer coating of Al2O3, SiO, Y2O3, ZnS, etc., with a thickness in the range of 0.15 to 0.5 micrometers can be used. In some non-limiting embodiments of this technology, instead of a DLC coating, a double-layer coating of SiO2-ZrO (or other combinations of oxides with different refractive indices), YF3-ZnS, YbF3-ZnS, etc., with a thickness in the range of 0.15 to 0.5 micrometers can be used. The durability and optical properties of the coating depend on the material used for the coating. For example, while DCL coatings offer better durability compared to the other materials mentioned, they offer poorer transmission and higher residual reflection.

[0107] Also there Figure 6 Surface B, as described, is treated with an anti-reflective (AR) coating, which reduces reflections and maximizes the clarity of transmitted and received signals within the operating wavelength range of LiDAR. For a wavelength range of 1.54 to 1.56 micrometers, the AR coating maintains a residual reflection loss of less than 0.5% within an angle of incidence (AOI) ranging from -35° to +35° and a temperature range of -40°C to 85°C. The surface is polished.

[0108] In some non-limiting embodiments of this technology, Al2O3, Y2O3, ZnO, ZnS, SiO2-ZrO2, YF3-ZnS, Tbf3-ZnS, etc., can be used to implement the AR coating. In some non-limiting embodiments of this technology, optical filters with the following filtering properties can be used instead of the AR coating: band-stop filters acting as both short-wavelength optical signals (i.e., optical signals with wavelengths from 1 to 1.44 micrometers) and long-wavelength optical signals (i.e., optical signals with wavelengths greater than 1.66 micrometers), and band-pass filters acting as optical signals with wavelengths from 1.44 to 1.66 micrometers. In some non-limiting embodiments of this technology, the optical filter can be implemented using alternating pairs of material layers with high and low refractive indices, such as Si-SiO2 or ZnS-YF3. The number of such layers required to implement the optical filter is several tens (e.g., 30 to 50), and the total thickness of such layers required is several micrometers, for example, 5 micrometers.

[0109] In some non-limiting embodiments of this technology, heating elements (not depicted) may be mounted on the edges of the optical windows 500, 600 of the LiDAR system 300. The purpose of the heating elements is to prevent moisture from fogging, frosting, or accumulating on the surfaces of the optical windows 500, 600. In some non-limiting embodiments of this technology, nichrome wire may be used as a heating element on the optical windows 500, 600. In some non-limiting embodiments of this technology, resistors may be used as heating elements on the optical windows 500, 600. In some non-limiting embodiments of this technology, nozzles configured to guide hot airflow on the optical windows may be used as heating elements on the optical windows 500, 600.

[0110] For optical radiation in the wavelength range of 1.54 to 1.56 micrometers, the transmittance of the LiDAR's optical window exceeds 95%, ensuring that the window transmits the laser beam with minimal loss and receives reflected signals. In some non-limiting embodiments of this technology, the surface quality of the coated window exceeds a standard of 60 to 40. Alternatively, the surface quality of the coated window may exceed a standard of 80 to 50 or any other standard. Furthermore, at the aperture 501, the flatness of the window has a deviation of less than 20λ for 1.55 micrometers.

[0111] When exposed to optical radiation in the wavelength range of 1.54 to 1.56 micrometers, Figure 5 and Figure 6 The optical window of the coated LiDAR depicted in the figure operates optimally with minimal loss, achieving an average power density of 20 W / mm² over an extended period. 2 Furthermore, the pulse energy reaches up to 100 μJ. The surface roughness of the untreated area is specified to be equal to or greater than Ra 2.5, while the aperture 501 is carefully inspected to ensure there are no bubbles, cracks, impurities, or defects larger than 0.1 mm. For example, Figure 5 The edge 502 of the optical window of the LiDAR in the image can be beveled, with a maximum bevel size 506 of 0.2 mm. The edges of the component are beveled, for example, with a 2.0 mm × 45° chamfer 503 or a 3.0 mm × 45° chamfer 506, blunting all sharp edges. The coated LiDAR window can operate without loss of functionality in the presence of mounting or edge defects (such as bubbles, cracks, impurities, etc.), provided that these defects are within 1 mm of the edge. Figure 5 As indicated by number 504. As those skilled in the art will understand, various embodiments of this technology may be configured with different sizes, and all the parameters described above are provided for a particular, non-limiting embodiment; these parameters may vary depending on design requirements and intended application.

[0112] It is anticipated that the shape of the LiDAR system's casing and optical window can be varied without affecting the LiDAR system's performance.

[0113] Those skilled in the art will understand modifications and improvements to the above-described embodiments of this technology. The foregoing description is intended to be illustrative rather than restrictive. Therefore, the scope of this technology is intended to be limited only by the scope of the appended claims.

[0114] Although the above embodiments have been described and illustrated with reference to specific steps performed in a particular order, it should be understood that some of these steps may be combined, subdivided, or rearranged without departing from the teachings of this art. Therefore, the order and grouping of steps are not a limitation of this art.

Claims

1. A LiDAR system comprising: The housing comprises: Scanning unit, and Detection unit, The housing further includes an optical window made of silicon, which has higher thermal conductivity than conventional glass; The optical window further includes: An anti-wear coating is applied to at least one outer surface of the optical window; At least one heating element is located on the edge of at least one outer surface of the optical window.

2. The LiDAR system of claim 1, wherein the silicon is optical grade silicon.

3. The LiDAR system according to claim 1, wherein the silicon is pure silicon.

4. The LiDAR system of claim 1, wherein the anti-wear coating is diamond-like carbon (DLC) applied to at least one outer surface of the optical window to provide anti-wear properties for the optical window of the LiDAR system.

5. The LiDAR system of claim 1, wherein the anti-wear coating is one of an oxide coating or a salt coating.

6. The LiDAR system according to claim 5, wherein the oxide coating is Al2O3.

7. The LiDAR system according to claim 5, wherein the salt coating is one of ZnS, YF3-ZnS, and YbF3-ZnS.

8. The LiDAR system according to claim 1, wherein the at least one heating element is a resistance heating element.

9. The LiDAR system of claim 8, wherein the resistance heating element is a nickel-chromium alloy wire.

10. The LiDAR system of claim 1, wherein the at least one heating element is a nozzle configured to guide a flow of hot air over the optical window.

11. The LiDAR system of claim 1, wherein an anti-reflective coating is applied to at least one inner surface of the optical window for optical radiation within the operating wavelength range of the LiDAR system.

12. The LiDAR system of claim 1, wherein the housing further includes a filter configured to block signals with wavelengths outside the operating wavelength range of the LiDAR system and to transmit signals with wavelengths within the operating wavelength range of the LiDAR system.

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