Autonomous vehicle including lidar sensor system with improved photon interface

Abstract

A light detection and ranging (LIDAR) system for a vehicle can include a light source configured to output an emitted light beam at a first orientation, a reflective surface configured to redirect the emitted light beam from the first orientation to a second orientation, and a lens interface configured to receive the emitted light beam at the first orientation and focus the emitted light beam onto the reflective surface; wherein the LIDAR system emits the emitted light beam into an environment of the LIDAR system at the second orientation.

Description

[0001] Priority Statement

[0002] This application claims priority and benefit to U.S. Patent Application No. 18 / 641,011 (filed April 19, 2024) and U.S. Patent Application No. 18 / 951,148 (filed November 18, 2024), each of which is incorporated herein by reference in its entirety. Background Technology

[0003] Light detection and ranging (LIDAR) systems use lasers to create a three-dimensional representation of the surrounding environment. A LIDAR system includes at least one transmitter paired with a receiver to form a channel, although a channel array can be used to extend the LIDAR system's field of view. During operation, each channel emits a laser beam into the environment. The laser beam is reflected from objects in the surrounding environment, and the reflected laser beams are detected by the receiver. A single channel provides a single point of ranging information. Overall, the channels are combined to create a point cloud corresponding to the three-dimensional representation of the surrounding environment. Summary of the Invention

[0004] The aspects and advantages of the implementation of this disclosure will be set forth in part in the description which follows, or may be learned from the description, or may be learned by practice of the implementation.

[0005] An exemplary aspect of this disclosure relates to a LIDAR system for autonomous vehicles. As further described herein, a LIDAR system can be used by a variety of devices and platforms (e.g., robotic platforms, etc.) to enhance the ability of devices and platforms to perceive their environment and, in response, perform functions (e.g., autonomously navigate through the environment).

[0006] Autonomous vehicles (AVs) can include LIDAR systems to help them perceive and navigate their environment. A LIDAR system can include a transceiver with a transmitter and a receiver. The transmitter can modulate a beam of light (e.g., a laser beam) to be emitted by the LIDAR system into its environment. Similarly, the receiver can be provided to receive the beam after it has been emitted into the environment and reflected by objects in the environment. The receiver can provide the received beam to downstream components of the LIDAR system for processing, which enables the AV to perceive its environment. Due to the correlation between the emitted and received beams, the transmitter and receiver can typically be positioned in a tightly controlled positional relationship. For example, the portion of the transmitter emitting the beam can be positioned near the portion of the receiver receiving the beam. Furthermore, some LIDAR systems (such as coherent LIDAR systems) can utilize a reference signal, such as a local oscillator (LO) signal, which is transmitted from the transmitter to the receiver without being emitted into the LIDAR system's environment. For example, this reference signal can be combined with the received beam to denoise the received beam or otherwise process the received beam to extract useful information. For example, a LIDAR system can determine the distance to an object and / or the velocity of the object based on the reflected beam.

[0007] However, transmitters and / or receivers typically include photonic circuitry occupying space near the transmitting and receiving sections. Therefore, controlling the positioning of the transmitter and receiver can include consideration of the photonic die. The photonic die, including the photonic circuitry, can be formed from silicon. Silicon photonic dies can provide precise formation of the photonic circuitry through, for example, photolithography. However, silicon may not provide, or may provide, reduced performance in light generation; therefore, these photonic dies are typically connected to separate light sources and / or amplifiers (e.g., semiconductor optical amplifiers (SOAs)) formed from non-silicon materials such as, for example, group III-V semiconductors, gallium arsenide (GaAs), and / or other suitable materials. Light can be fed from the light source to the silicon photonic die. In some existing LiDAR systems, light can pass through one or more waveguides from a first die interface, including, for example, a light source and / or amplifier, to a second die including the transmitter. Coupled light to these waveguides typically incurs significant losses, especially as the waveguide size decreases. In some cases, losses of up to 60% can occur due to coupling between the semiconductor optical amplifier and the transmitting die.

[0008] This disclosure provides an improved LIDAR system, such as a coherent LIDAR system, that does not suffer from these drawbacks. In particular, this disclosure provides a LIDAR system in which the beam of light generated by a light source does not necessarily enter a silicon photonic chip for transmission. Instead, according to an example aspect of this disclosure, a light redirection device, such as a lens interface, directs light from the light source (e.g., after modulation and / or amplification) onto a reflective surface. For example, in some implementations, the lens interface may be a lens array configured to collimate and / or focus any diverging light from the light source. The reflective surface redirects the light into the environment of the LIDAR system. As an example, the reflective surface may be or may include a reflective coating (e.g., a metallic coating) on ​​a substrate.

[0009] Furthermore, in some implementations, the receiver photonic die can be positioned such that light reflected by the reflective surface passes through the receiver photonic die before being emitted into the environment of the LIDAR system. For example, the receiver photonic die may include a beam-transparent material, such as silicon. Additionally, the receiver photonic die may include a receiving portion capable of receiving the returned beam (e.g., by being opaque to the returned beam). In this way, the positioning of the receiver photonic die relative to the emitted beam can be tightly controlled to meet the positioning constraints associated with a coherent LIDAR system, while further avoiding the losses associated with conventional waveguide-based emitted beam manipulation.

[0010] The LIDAR system according to this disclosure offers numerous technical effects and benefits. For example, the LIDAR system according to this disclosure can provide improved object detection accuracy through a stronger emitted beam due to reduced losses associated with the waveguide. Furthermore, due to the reduced losses, the LIDAR system can provide lower power consumption when generating an emitted beam with considerable intensity. In this way, the LIDAR system according to this disclosure can provide improved performance compared to some existing LIDAR systems.

[0011] For example, in one aspect, this disclosure provides a Light Detection and Ranging (LIDAR) system for a vehicle. The LIDAR system includes a light source configured to output an emitted beam in a first orientation. The LIDAR system includes a reflective surface configured to redirect the emitted beam from the first orientation to a second orientation. The LIDAR system includes a lens interface configured to receive the emitted beam in the first orientation and focus the emitted beam onto the reflective surface. The LIDAR system emits the emitted beam into the environment of the LIDAR system in the second orientation.

[0012] In some implementations, the LIDAR system includes a modulator configured to receive an emitted beam from a light source and modify at least one of the phase or frequency of the emitted beam.

[0013] In some implementations, the reflective surface includes a flat surface.

[0014] In some implementations, the reflective surface includes a concave surface.

[0015] In some implementations, the LIDAR system includes an amplifier configured to receive and amplify the emitted beam from the light source.

[0016] In some implementations, the LIDAR system includes a splitter configured to split the beam across multiple channels.

[0017] In some implementations, the lens interface is or includes a lens array having multiple lenses, each corresponding to a multiple channel.

[0018] In some implementations, the lens interface includes at least: a first lens configured to collimate the emitted beam to generate a collimated beam and a second lens configured to focus the collimated beam onto a focal point on a reflective surface.

[0019] In some implementations, a LIDAR system includes a half-wave plate (HWP) configured to change the polarization direction of the emitted beam.

[0020] In some implementations, a LIDAR system includes a receiver photonic chip configured to receive a receive beam from the environment of the LIDAR system.

[0021] In some implementations, the receiver photonic dies are substantially transparent to the emitted beam, and the receiver photonic dies are positioned above the reflective surface, such that the emitted beam passes through the receiver photonic dies after being reflected by the reflective surface.

[0022] In some implementations, the receiver photonic die includes an emitting portion through which the emitted beam passes and a receiving portion offset from the emitting portion, the receiving portion being configured to receive the received beam from the environment of the LIDAR system and provide the received beam to at least one photonic component on the receiver photonic die.

[0023] In some implementations, the reflective surface is disposed on the substrate, and the substrate and the receiver photonic die each include one or more alignment guides that indicate the alignment between the substrate and the receiver photonic die.

[0024] In some implementations, the receiver photonic die and the transmitter die are substantially coplanar, and the transmitter die is configured to provide an emitted beam from a light source to a lens interface. In some implementations, the LIDAR system also includes: a second reflective surface configured to receive a received beam in a second orientation and redirect the received beam from the second orientation to a first orientation; and a second lens interface configured to focus the received beam into the receiver photonic die.

[0025] In some implementations, the receiver photonic die is or includes silicon.

[0026] In some implementations, the reflective surface is or includes a metallic coating.

[0027] For example, in one aspect, this disclosure provides an optical detection and ranging (LIDAR) system for a vehicle. The LIDAR system includes a light source configured to output an emitted beam in a first orientation. The LIDAR system includes at least one splitter configured to branch the emitted beam among multiple channels. The LIDAR system includes an emitter die including multiple semiconductor optical amplifiers (SOAs) configured to amplify the emitted beam among multiple channels. The LIDAR system includes a reflective surface configured to redirect the emitted beam from the first orientation to a second orientation. The LIDAR system includes a lens interface configured to receive the emitted beam in the first orientation and focus the emitted beam onto the reflective surface. The LIDAR system includes a receiver photonic die disposed above the reflective surface. The receiver photonic die is substantially transparent to the emitted beam. After passing through the receiver photonic die, the LIDAR system emits the emitted beam into the environment of the LIDAR system in a second orientation.

[0028] In some implementations, the receiver photonic die includes an emitting portion through which the emitted beam passes and a receiving portion offset from the emitting portion, the receiving portion being configured to receive the received beam from the environment of the LIDAR system and provide the received beam to at least one photonic component on the receiver photonic die.

[0029] In some implementations, the lens interface includes at least: a first lens configured to collimate the emitted beam to generate a collimated beam and a second lens configured to focus the collimated beam onto a focal point on a reflective surface.

[0030] In some implementations, at least one of the multiple channels is or includes a local oscillator (LO) channel, wherein the LO channel transmits the LO signal to the receiver photonic die without being amplified by the multiple SOAs.

[0031] For example, in one aspect, this disclosure provides a Light Detection and Ranging (LIDAR) system for a vehicle. The LIDAR system includes a light source configured to output an emitted beam in a first orientation. The LIDAR system includes at least one splitter configured to branch the emitted beam among multiple channels. The LIDAR system includes an emitter die including multiple semiconductor optical amplifiers (SOAs) configured to amplify the emitted beam among multiple channels. The LIDAR system includes a first reflective surface configured to redirect the emitted beam from the first orientation to a second orientation, wherein the LIDAR system emits the emitted beam into the environment of the LIDAR system in the second orientation. The LIDAR system includes a first lens interface configured to receive the emitted beam in the first orientation and focus the emitted beam onto the first reflective surface. The LIDAR system includes a second reflective surface configured to reflect a received beam from the environment of the LIDAR system in the second orientation and redirect the received beam back to the first orientation. The LIDAR system includes a receiver photonic die, wherein the receiver photonic die is substantially coplanar with the emitter die. The LIDAR system includes a second lens interface configured to focus a received beam from a second reflective surface onto the receiver photonic die.

[0032] In some implementations, the first lens interface is or at least includes: a first lens configured to collimate the emitted beam to generate a collimated beam and a second lens configured to focus the collimated beam at a focal point on a first reflective surface.

[0033] For example, in one aspect, this disclosure provides a method for manufacturing a semiconductor-based optical detection and ranging (LIDAR) system for a vehicle. The method includes providing a light source configured to output an emitted light beam. The method includes forming a reflective surface on a substrate substantially parallel to an emitting die, such that the reflective surface is configured to redirect the emitted light beam from a first orientation substantially coplanar with the emitting die to a second orientation substantially perpendicular to the first orientation, and to emit the emitted light beam into the environment of the LIDAR system in the second orientation. The method includes arranging the emitting die to provide the emitted light beam from the light source to the reflective surface. The method includes distributing a receiver photonic die in the LIDAR system such that the receiver photonic die is configured to receive a received light beam from the environment of the LIDAR system.

[0034] In some implementations, the method also includes providing an amplifier on the emitting die to receive and amplify the emitted beam from the light source.

[0035] In some implementations, the method further includes: providing a lens interface to focus the emitted beam onto a reflective surface, wherein the lens interface includes a lens array comprising a plurality of lenses; and aligning the plurality of lenses of the lens array with a plurality of channels of the emitted beam, respectively.

[0036] In some implementations, the lens interface includes at least one first lens configured to collimate the emitted beam to generate a collimated beam and at least one second lens configured to focus the collimated beam onto a focal point on a reflective surface.

[0037] In some implementations, the method also includes arranging a half-wave plate (HWP) such that the HWP is configured to change the polarization direction of the emitted beam.

[0038] In some implementations, the method also includes aligning the substrate and the receiver photonic die.

[0039] In some implementations, aligning the substrate and receiver photonic die includes: forming one or more alignment guides on the substrate and receiver photonic die, the one or more alignment guides indicating alignment between the substrate and receiver photonic die; measuring the one or more alignment guides after the receiver photonic die is positioned above a reflective surface; and determining that the substrate and receiver photonic die are correctly aligned based on the measurement of the one or more alignment guides.

[0040] In some implementations, forming one or more alignment guides includes forming one or more alignment guides by photolithography.

[0041] In some implementations, the method further includes aligning the transmitter die and the receiver die. In some implementations, aligning the transmitter die and the receiver die includes: providing an alignment signal to a first alignment channel of the transmitter die; transferring the alignment signal from the first alignment channel of the transmitter die to a second alignment channel of the receiver die; and evaluating the alignment of the transmitter die and the receiver die based on the transfer of the alignment signal from the first alignment channel to the second alignment channel.

[0042] In some implementations, the method also includes placing a receiver photonic die above the reflective surface, wherein the receiver photonic die is substantially transparent to the emitted beam.

[0043] In some implementations, positioning the receiver photonic chip above the reflective surface includes positioning the receiver photonic chip above the reflective surface such that the emitted beam passes through the receiver photonic chip after being reflected by the reflective surface.

[0044] In some implementations, the receiver photonic die includes an emitting portion through which the emitted beam passes and a receiving portion offset from the emitting portion, the receiving portion being configured to receive the received beam from the environment of the LIDAR system and provide the received beam to at least one photonic component on the receiver photonic die.

[0045] In some implementations, the method also includes arranging the transmitter die in a position substantially coplanar with the receiver photonic die.

[0046] In some implementations, the method further includes: forming a second reflective surface configured to receive a received beam in a second orientation and redirect the received beam from the second orientation to a first orientation; and arranging a second lens interface such that the second lens interface is configured to focus the received beam onto a receiver photonic die.

[0047] For example, in one aspect, this disclosure provides a system for fabricating a semiconductor-based optical detection and ranging (LIDAR) system. The system is operable to perform operations. Operations include providing a light source configured to output an emitted beam. Operations include forming a reflective surface on a substrate substantially parallel to an emitting die, such that the reflective surface is configured to redirect the emitted beam from a first orientation substantially coplanar with the emitting die to a second orientation substantially perpendicular to the first orientation, and to emit the emitted beam into the environment of the LIDAR system in the second orientation. Operations include arranging the emitting die to provide the emitted beam from the light source to the reflective surface. Operations include positioning a receiver photonic die in the LIDAR system such that the receiver photonic die is configured to receive a received beam from the environment of the LIDAR system.

[0048] In some implementations, the operation further includes: providing a lens interface to focus the emitted beam onto a reflective surface, wherein the lens interface includes a lens array comprising a plurality of lenses; and aligning the plurality of lenses of the lens array with a plurality of channels of the emitted beam, respectively.

[0049] In some implementations, the operation further includes aligning the substrate and the receiver photonic die. In some implementations, aligning the substrate and the receiver photonic die includes: forming one or more alignment guides on the substrate and the receiver photonic die, the one or more alignment guides indicating alignment between the substrate and the receiver photonic die; measuring the one or more alignment guides after the receiver photonic die is positioned above the reflective surface; and determining that the substrate and the receiver photonic die are correctly aligned based on the measurement of the one or more alignment guides.

[0050] In some implementations, the operation also includes aligning the transmitter die and the receiver die. In some implementations, aligning the transmitter die and the receiver die includes: providing an alignment signal to a first alignment channel of the transmitter die; transferring the alignment signal from the first alignment channel of the transmitter die to a second alignment channel of the receiver die; and evaluating the alignment of the transmitter die and the receiver die based on the transfer of the alignment signal from the first alignment channel to the second alignment channel.

[0051] In some implementations, positioning the receiver photonic chip above the reflective surface includes positioning the receiver photonic chip above the reflective surface such that the emitted beam passes through the receiver photonic chip after being reflected by the reflective surface.

[0052] In some implementations, the operation further includes: arranging the transmitter die at a position substantially coplanar with the receiver photonic die; forming a second reflective surface configured to receive a received beam in a second orientation and redirect the received beam from the second orientation to a first orientation; and arranging a second lens interface such that the second lens interface is configured to focus the received beam into the receiver photonic die.

[0053] Other exemplary aspects of this disclosure relate to other systems, methods, vehicles, apparatuses, tangible non-transitory computer-readable media, and devices for motion prediction and / or operation of devices including a LIDAR system having a LIDAR module according to exemplary aspects of this disclosure.

[0054] These and other features, aspects, and advantages of the various implementations of this disclosure will become more readily understood by reference to the following description and the appended claims. The accompanying drawings, incorporated in and forming a part of this specification, illustrate implementations of this disclosure and, together with the description, serve to explain the relevant principles. Attached Figure Description

[0055] Figure 1 A block diagram of an example system based on some implementations of this disclosure is depicted.

[0056] Figure 2 A block diagram of an example LIDAR system according to some implementations of this disclosure is depicted.

[0057] Figure 3 A block diagram depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure.

[0058] Figure 4 A perspective view depicting a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure is provided.

[0059] Figure 5AA side view depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure.

[0060] Figure 5B A side view depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure.

[0061] Figure 6 A perspective view depicting a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure is provided.

[0062] Figure 7A A top view depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure.

[0063] Figure 7B A side view depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure.

[0064] Figure 8 A side view depicts a portion of an example transceiver for a LIDAR system according to some implementations of this disclosure. Detailed Implementation

[0065] The techniques disclosed herein are described below in the context of autonomous vehicles for illustrative purposes only. As described herein, the techniques are not limited to autonomous vehicles and can be implemented in other robots and computing systems, as well as various devices. For example, the systems and methods disclosed herein can be implemented in various ways, including but not limited to computer-implemented methods, autonomous vehicle systems, autonomous vehicle control systems, robot platform systems, general-purpose robot device control systems, computing devices, etc.

[0066] refer to Figures 1-8 The exemplary implementation of this disclosure will be discussed in further detail. Figure 1A block diagram of an example autonomous vehicle control system 100 for an autonomous vehicle according to some implementations of this disclosure is depicted. The autonomous vehicle control system 100 can be implemented by the computing system of the autonomous vehicle. The autonomous vehicle control system 100 can include one or more sub-control systems 101, which operate to receive input from sensors 102 or other input devices of the autonomous vehicle control system 100. In some implementations, the sub-control system 101 can additionally receive platform data 108 (e.g., map data 110) from local or remote storage. The sub-control system 101 can generate control outputs for (e.g., via platform control device 112, etc.) controlling the autonomous vehicle based on sensor data 104, map data 110, or other data. The sub-control system 101 can include different subsystems for performing various autonomous operations. The subsystems can include a positioning system 130, a perception system 140, a planning system 150, and a control system 160. The positioning system 130 is capable of determining the location of the autonomous vehicle within its environment; the perception system 140 is capable of detecting, classifying, and tracking objects and actors in the environment; the planning system 150 is capable of determining the trajectory of the autonomous vehicle; and the control system 160 is capable of converting the trajectory into vehicle control for controlling the autonomous vehicle. The sub-control system 101 can be implemented by one or more on-board computing systems. A subsystem can include one or more processors and one or more memory devices. The one or more memory devices can store instructions executable by the one or more processors to cause the one or more processors to perform operations or functions associated with the subsystem. The computing resources of the sub-control system 101 can be shared among its subsystems, or a subsystem can have a dedicated set of computing resources.

[0067] In some implementations, the autonomous vehicle control system 100 can be implemented for or by an autonomous vehicle (e.g., a ground-based autonomous vehicle). The autonomous vehicle control system 100 is capable of performing various processing techniques on inputs (e.g., sensor data 104, map data 110) to perceive and understand the vehicle's surrounding environment and generate an appropriate set of control outputs to implement a vehicle motion plan (e.g., including one or more trajectories) to traverse the vehicle's surrounding environment. In some implementations, the autonomous vehicle implementing the autonomous vehicle control system 100 is capable of driving, navigating, operating, etc., with minimal or no interaction from human operators (e.g., drivers, pilots, etc.).

[0068] In some implementations, autonomous vehicles can be configured to operate in multiple operating modes. For example, an autonomous vehicle can be configured to operate in a fully autonomous (e.g., self-driving, etc.) mode, where the autonomous platform is controlled without user input (e.g., driving and navigating without input from a human operator present in the autonomous vehicle or a human operator remotely). An autonomous vehicle can operate in a semi-autonomous mode, where it can be operated with some input from a human operator present in the autonomous vehicle (or a human operator remotely). In some implementations, an autonomous vehicle can enter a manual operating mode, in which the autonomous vehicle is fully controlled by a human operator (e.g., a human driver, etc.) and can be (e.g., temporarily, permanently, etc.) prohibited or disabled from performing autonomous navigation (e.g., autonomous driving, etc.). An autonomous vehicle can be configured to operate in other modes, such as parking or sleep modes (e.g., for use between tasks, such as waiting for a trip / service, charging, etc.). In some implementations, autonomous vehicles are able to implement vehicle operation assistance technologies (e.g., collision mitigation systems, power-assisted steering, etc.) to help assist the human operator of the autonomous platform (e.g., during manual mode, etc.).

[0069] The autonomous vehicle control system 100 can be mounted on an autonomous vehicle (e.g., on or inside the autonomous vehicle) and can be configured to operate the autonomous vehicle in various environments. The environment can be a real-world environment or a simulated environment. In some implementations, one or more simulation computing devices can simulate one or more of the following: sensor 102, sensor data 104, communication interface 106, platform data 108, or platform control device 112, to simulate the operation of the autonomous vehicle control system 100.

[0070] In some implementations, the sub-control system 101 is capable of communicating with one or more networks or other systems via a communication interface 106. The communication interface 106 may include any suitable components for interfacing with one or more networks, including, for example, transmitters, receivers, ports, controllers, antennas, or other suitable components that facilitate communication. In some implementations, the communication interface 106 may include multiple components (e.g., antennas, transmitters, or receivers) that allow it to implement and utilize various communication technologies (e.g., multiple-input multiple-output (MIMO) technologies).

[0071] In some implementations, the sub-control system 101 can communicate with one or more computing devices remote from the autonomous vehicle via one or more networks using the communication interface 106. For example, in some examples, one or more inputs, data, or functions of the sub-control system 101 can be supplemented or replaced by a remote system communicating via the communication interface 106. For example, in some implementations, map data 110 can be downloaded to a remote system via a network using the communication interface 106. In some examples, one or more of the positioning system 130, sensing system 140, planning system 150, or control system 160 can be updated, influenced, nudged, communicated, etc., by the remote system for assistance, maintenance, situational response coverage, management, etc.

[0072] Sensor 102 can be mounted on an autonomous platform. In some implementations, sensor 102 can include one or more types of sensors. For example, one or more sensors can include image capture devices (e.g., visible spectrum cameras, infrared cameras, etc.). Additionally or alternatively, sensor 102 can include one or more depth capture devices. For example, sensor 102 can include one or more LiDAR sensors or Radio Detection and Ranging (RADAR) sensors. Sensor 102 can be configured to generate point data describing at least a portion of a 360-degree view of the surrounding environment. The point data can be point cloud data (e.g., 3D LiDAR point cloud data, RADAR point cloud data). In some implementations, one or more sensors 102 for capturing depth information can be fixed to a rotating device so that sensor 102 rotates about an axis. Sensor 102 can rotate about an axis while capturing data in interval sector packets describing different portions of a 360-degree view of the surrounding environment of the autonomous platform. In some implementations, one or more sensors 102 for capturing depth information can be solid-state.

[0073] Sensor 102 can be configured to capture sensor data 104 that indicates or otherwise associates with at least a portion of the autonomous vehicle's environment. Sensor data 104 can include image data (e.g., 2D camera data, video data, etc.), RADAR data, LIDAR data (e.g., 3D point cloud data, etc.), audio data, or other types of data. In some implementations, sub-control system 101 can obtain input from additional types of sensors, such as inertial measurement units (IMUs), altimeters, inclinometers, odometers, position or positioning devices (e.g., GPS, compasses), wheel encoders, or other types of sensors. In some implementations, sub-control system 101 can acquire sensor data 104 associated with a specific component or system of the autonomous vehicle. This sensor data 104 can indicate, for example, wheel speed, component temperature, steering angle, cargo or passenger status, etc. In some implementations, sub-control system 101 can acquire sensor data 104 associated with environmental conditions (such as ambient or weather conditions). In some implementations, sensor data 104 can include multimodal sensor data. Multimodal sensor data can be acquired by at least two different types of sensors (e.g., sensor 102) and can indicate static and / or dynamic objects or actors within the autonomous vehicle's environment. The multimodal sensor data can include at least two types of sensor data (e.g., camera and LiDAR data). In some implementations, the autonomous vehicle can utilize sensor data 104 from sensors located remotely (e.g., off-vehicle). This can include, for example, sensor data 104 captured by different autonomous vehicles.

[0074] The sub-control system 101 can acquire map data 110 associated with the environment in which the autonomous vehicle has been, is, or will be located. Map data 110 can provide information about the environment or geographic area. For example, map data 110 can provide information about the identity and location of different travel routes (e.g., roads), travel route segments (e.g., road sections), buildings or other items or objects (e.g., lampposts, crosswalks, curbs, etc.); the location and orientation of boundaries or boundary markers (e.g., traffic lanes, parking lanes, turning lanes, bicycle lanes, other lanes, etc.); traffic control data (e.g., the location and indication of signs, traffic lights, other traffic control equipment, etc.); obstacle information (e.g., temporary or permanent blockages, etc.); event data (e.g., road closures / traffic rule changes due to parades, concerts, sporting events, etc.); nominal vehicle path data (e.g., indicating ideal vehicle paths, such as along the center of a lane, etc.); or any other map data that helps the autonomous vehicle understand its surrounding environment and its relationship to it. In some implementations, map data 110 can include high-resolution map information. Additionally or alternatively, map data 110 may include sparse map data (e.g., lane maps). In some implementations, sensor data 104 may be fused with map data 110 or used to update map data 110 in real time.

[0075] The sub-control system 101 may include a positioning system 130, which provides the autonomous vehicle with an understanding of its location and orientation in the environment. In some examples, the positioning system 130 may support one or more other subsystems of the sub-control system 101, such as performing sensing, planning, or control operations by providing a unified local frame of reference.

[0076] In some implementations, positioning system 130 is capable of determining the current position of the autonomous vehicle. The current position can include a global position (e.g., relative to a geographic reference anchor) or a relative position (e.g., relative to objects in the environment). Positioning system 130 can typically include or interface with any device or circuitry for analyzing the position or position changes of the autonomous vehicle. For example, positioning system 130 can determine the position using one or more of the following: inertial sensors (e.g., inertial measurement units, etc.), satellite positioning systems, radio receivers, network devices (e.g., IP address-based, etc.), triangulation or proximity network access points or other network components (e.g., cell towers, Wi-Fi access points, etc.), or other suitable technologies. The position of the autonomous vehicle can be used by various subsystems of subcontrol system 101 or (e.g., using communication interface 106) provided to a remote computing system.

[0077] In some implementations, the positioning system 130 is capable of registering the relative positions of elements in the autonomous vehicle's surrounding environment with recorded positions in map data 110. For example, the positioning system 130 can process sensor data 104 (e.g., LiDAR data, RADAR data, camera data, etc.) for alignment or otherwise registration to (e.g., from map data 110) a map of the surrounding environment to understand the autonomous vehicle's position within that environment. Therefore, in some implementations, the autonomous vehicle can identify its position within the surrounding environment (e.g., across six axes, etc.) based on a search of map data 110. In some implementations, given an initial positioning, the positioning system 130 can update the autonomous vehicle's positioning based on incremental realignment of the recorded or estimated deviation from the initial positioning. In some implementations, the position can be directly registered within map data 110.

[0078] In some implementations, map data 110 can include a large amount of data subdivided into geographic tiles, such that a desired area of ​​the map stored in map data 110 can be reconstructed from one or more tiles. For example, multiple tiles selected from map data 110 can be stitched together by sub-control system 101 based on locations obtained by positioning system 130 (e.g., multiple tiles selected near the locations).

[0079] In some implementations, the positioning system 130 is capable of determining the (e.g., relative or absolute) location of one or more attachments or accessories to the autonomous vehicle. For example, the autonomous vehicle may be associated with a cargo platform, and the positioning system 130 may provide the location of one or more points on the cargo platform. For example, the cargo platform may include trailers or other equipment towed or otherwise attached to or manipulated by the autonomous vehicle, and the positioning system 130 may provide data describing the (e.g., absolute, relative, etc.) location of the autonomous vehicle and the cargo platform. This information can be obtained by other autonomous systems to assist in operating the autonomous vehicle.

[0080] The sub-control system 101 may include a sensing system 140, which allows the autonomous platform to detect, classify, and track objects and actors in its environment. The environmental features or objects sensed within the environment may be those within the field of view of sensor 102, or those predicted to be occluded relative to sensor 102. This may include objects that are not in motion or not predicted to be moving (static objects) or objects that are in motion or predicted to be in motion (dynamic objects / actuators).

[0081] The perception system 140 is capable of determining one or more states (e.g., current or past states, etc.) of one or more objects in the surrounding environment of the autonomous vehicle. For example, a state can describe (e.g., for a given time, time period, etc.) an estimate of the object's current or past location (also referred to as position); current or past speed / rate; current or past acceleration; current or past heading; current or past orientation; size / occupied area (e.g., represented by boundary shape, object highlighting, etc.); classification (e.g., pedestrian category vs. vehicle category vs. bicycle category, etc.); associated uncertainties; or other state information. In some implementations, the perception system 140 is capable of using one or more algorithms or machine learning models to determine the state, which are configured to identify / classify objects based on input from sensor 102. The perception system is capable of using sensor data 104 of different modalities to generate a representation of the environment for processing by one or more algorithms or machine learning models. In some implementations, the state of one or more identified or unidentified objects can be maintained and updated over time as the autonomous vehicle continues to perceive or interact with the objects (e.g., maneuvering through or around, yielding, etc.). In this way, the perception system 140 is able to provide an understanding of the current state of the environment (e.g., including objects therein), which is provided by a record of the prior states of the environment (e.g., including the motion history of objects therein). Such information can be helpful when an autonomous vehicle plans its movement through the environment.

[0082] The sub-control system 101 may include a planning system 150, which can be configured to determine how the autonomous platform will interact with and move within its environment. The planning system 150 can determine one or more motion plans for the autonomous platform. The motion plan may include one or more trajectories (e.g., motion trajectories) indicating the path the autonomous vehicle will follow. The trajectory may have a certain length or time range. The length or time range may be defined by a calculated planning span of the planning system 150. The motion trajectory may be defined by one or more waypoints (with associated coordinates). Waypoints may be the future locations of the autonomous platform. The motion plan can be continuously generated, updated, and considered by the planning system 150.

[0083] The planning system 150 is able to determine the strategy of the autonomous platform. The strategy can be a set of discrete decisions made by the autonomous platform (e.g., yielding to an actor, yielding in the opposite direction to an actor, merging, changing lanes). The strategy can be selected from multiple potential strategies. The selected strategy can be the lowest-cost strategy determined by one or more cost functions. The cost function can, for example, evaluate the probability of collision with another actor or object.

[0084] Planning system 150 is capable of determining the desired trajectory for executing a strategy. For example, planning system 150 can obtain one or more trajectories for executing one or more strategies. Planning system 150 can evaluate trajectories or strategies (e.g., using scores, costs, rewards, constraints, etc.) and rank them. For example, planning system 150 can use forecast outputs, which indicate interactions between the autonomous platform's trajectory and one or more objects (e.g., approach, intersection, etc.), to inform the evaluation of candidate trajectories or strategies for the autonomous platform. In some implementations, planning system 150 can utilize static costs to evaluate the autonomous platform's trajectory (e.g., "avoiding lane boundaries," "minimizing jerk," etc.). Additionally or alternatively, planning system 150 can utilize dynamic costs to evaluate the autonomous platform's trajectory or strategy based on forecast outcomes of the current operational scenario (e.g., forecast trajectories or strategies leading to interactions between actors, forecast trajectories or strategies leading to interactions between actors and the autonomous platform, etc.). Planning system 150 can rank trajectories based on one or more static costs, one or more dynamic costs, or a combination thereof. The planning system 150 can select a motion plan (and corresponding trajectory) based on the ranking of multiple candidate trajectories. In some implementations, the planning system 150 can select the highest-ranked candidate or the highest-ranked feasible candidate.

[0085] The planning system 150 can then verify the selected trajectory against one or more constraints before the trajectory is executed by the autonomous platform.

[0086] To aid its motion planning decisions, the planning system 150 can be configured to perform a forecasting function. The planning system 150 can forecast the future state of the environment. This can include forecasting the future states of other actors in the environment. In some implementations, the planning system 150 can forecast future states based on current or past states (e.g., those developed or maintained by the perception system 140). In some implementations, the future state can be or include the predicted trajectories (e.g., positions over time) of objects in the environment (such as other actors). In some implementations, one or more of the future states can include one or more probabilities associated with them (e.g., marginal probabilities, conditional probabilities). For example, one or more probabilities can include one or more probabilities conditioned on the strategies or trajectory options available to the autonomous vehicle. Additionally or alternatively, probabilities can include probabilities conditioned on trajectory options available to one or more other actors.

[0087] To implement the selected motion plan, the sub-control system 101 may include a control system 160 (e.g., a vehicle control system). Typically, the control system 160 provides an interface between the sub-control system 101 and the platform control device 112 for implementing the strategy and motion plan generated by the planning system 150. For example, the control system 160 can implement the selected motion plan / trajectory to control the movement of the autonomous platform through its environment by following a selected trajectory (e.g., including waypoints). The control system 160 can, for example, translate the motion plan into instructions for the appropriate platform control device 112 (e.g., acceleration control, braking control, steering control, etc.). As an example, the control system 160 can translate the selected motion plan into instructions to adjust the steering components by a certain degree, apply a certain amount of braking force, increase / decrease speed, etc. In some implementations, the control system 160 can communicate with the platform control device 112 via a communication channel, which may include, for example, one or more data buses (e.g., Controller Area Network (CAN), etc.), an on-board diagnostic connector (e.g., OBD-II), or a combination of wired or wireless communication links. The platform control device 112 can send or receive data, messages, signals, etc. to the sub-control system 101 through the communication channel (or vice versa).

[0088] The sub-control system 101 can receive auxiliary signals from the remote assistance system 170 via communication interface 106. The remote assistance system 170 can communicate with the sub-control system 101 via a network. In some implementations, the sub-control system 101 can initiate a communication session with the remote assistance system 170. For example, the sub-control system 101 can initiate a session based on or in response to a trigger. In some implementations, the trigger can be an alarm, error signal, map feature, request, location, traffic conditions, road conditions, etc.

[0089] After initiating a session, the sub-control system 101 can provide context data to the remote assistance system 170. Context data may include sensor data 104 and state data of the autonomous vehicle. For example, context data may include live camera feeds from the autonomous vehicle's cameras and the current speed of the autonomous vehicle. The operator of the remote assistance system 170 (e.g., a human operator) can use the context data to select auxiliary signals. Auxiliary signals can provide the sub-control system 101 with values ​​or adjustments to various operating parameters or characteristics. For example, auxiliary signals may include waypoints (e.g., paths around obstacles, lane changes, etc.), speed or acceleration profiles (e.g., speed limits, etc.), relative motion commands (e.g., platooning, etc.), operating characteristics (e.g., use of auxiliary systems, reduced energy handling modes, etc.), or other signals used to assist the sub-control system 101.

[0090] The sub-control system 101 can use auxiliary signals as inputs to one or more autonomous subsystems to perform autonomous functions. For example, the planning system 150 can receive auxiliary signals as inputs for generating a motion plan. For example, the auxiliary signals can include constraints for generating the motion plan. Additionally or alternatively, the auxiliary signals can include cost or reward adjustments for influencing the motion planning of the planning system 150. Additionally or alternatively, in addition to other received data (e.g., sensor inputs, etc.), the sub-control system 101 can also consider the auxiliary signals as advisory inputs.

[0091] The sub-control system 101 can be platform-independent, and the control system 160 is capable of providing control commands to the platform control device 112 for various autonomous mobile platforms (e.g., multiple different autonomous platforms equipped with autonomous control systems). This can include various types of autonomous vehicles from different manufacturers / developers (e.g., cars, vans, SUVs, trucks, electric vehicles, internal combustion engine vehicles, etc.), operating in various environments, and in some implementations performing one or more vehicle services.

[0092] Figure 2 This is a block diagram illustrating an example LIDAR sensor system for an autonomous vehicle according to some implementations. The environment includes a LIDAR system 200, which includes a transmit (Tx) path and a receive (Rx) path. The Tx path includes one or more Tx input / output ports (e.g., channels), and the Rx path includes one or more Rx input / output ports (e.g., channels). In some implementations, a semiconductor substrate and / or semiconductor package may include the Tx path and / or Rx path. In some implementations, the semiconductor substrate and / or semiconductor package may include at least one of silicon photonics circuitry, a programmable logic controller (PLC), or a group III-V semiconductor circuit.

[0093] In some implementations, the first semiconductor substrate and / or the first semiconductor package may include a Tx path, and the second semiconductor substrate and / or the second semiconductor package may include an Rx path. In some arrangements, Rx input / output ports and / or Tx input / output ports may appear (or be formed / set / positioned / placed) along one or more edges of one or more semiconductor substrates and / or semiconductor packages.

[0094] The LIDAR system 200 can be coupled to one or more sub-control systems 101 (e.g., Figure 1(Sub-control system 101). In some implementations, sub-control system 101 may be coupled to the Rx path via one or more Rx input / output ports. For example, sub-control system 101 may receive LIDAR output from LIDAR system 200. Sub-control system 101 may control the vehicle (e.g., an autonomous vehicle) based on the LIDAR output.

[0095] The Tx path may include a light source (e.g., a laser source) 202, modulators 204A and 204B, amplifier 206, and one or more transmitters 220. The Rx path may include one or more receivers 222, mixer 208, detector 212, transimpedance amplifier (TIA) 214, and one or more analog-to-digital converters (ADCs) 224. Although Figure 2 Only a selected number of components and only one input / output channel are shown, but the LIDAR system 200 may include any number of components and / or input / output channels (in any combination), which are interconnected in any arrangement to facilitate the combination of multiple functions of the LIDAR system to support the operation of the vehicle.

[0096] Laser source 202 can be configured to generate an optical signal (or beam) originating from (or associated with) a local oscillator (LO) signal. In some implementations, the optical signal can have an operating wavelength equal to or substantially equal to 1550 nanometers. In some implementations, the optical signal can have an operating wavelength between 1400 nanometers and 1440 nanometers.

[0097] Laser source 202 can be configured to provide an optical signal to modulator 204A, which is configured to modulate the phase and / or frequency of the optical signal based on a first radio frequency (RF) signal (e.g., "RF1" signal) to generate a modulated optical signal, such as by continuous wave (CW) modulation or quasi-CW modulation. Modulator 204A can be configured to send the modulated optical signal to amplifier 206. Amplifier 206 can be configured to amplify the modulated optical signal to generate an amplified optical signal for transmission via one or more transmitters 220. The one or more transmitters 220 may include one or more optical waveguides or antennas. In some implementations, modulator 204A and / or modulator 204B may have a bandwidth between 400 MHz and 1000 MHz.

[0098] LIDAR system 200 includes one or more transmitters 220 and one or more receivers 222. The transmitters 220 and / or receivers 222 may be included in transceiver 230. The transmitter 220 is capable of providing a transmitted beam received from the Tx path to the environment, directed towards object 218 within a given field of view. The one or more receivers 222 are capable of receiving a received beam reflected from object 218 and providing the received beam to mixer 208 in the Rx path. The one or more receivers 222 may include one or more optical waveguides or antennas. In some arrangements, the one or more transceivers 230 may include monostatic or bistatic transceivers.

[0099] Laser source 202 can be configured to provide a LO signal to modulator 204B, which is configured to modulate the phase and / or frequency of the LO signal based on a second RF signal (e.g., the "RF2" signal) to generate a modulated LO signal (e.g., using continuous wave (CW) modulation or quasi-CW modulation), and send the modulated LO signal to mixer 208 in the Rx path. Mixer 208 can be configured to mix the modulated LO signal with a return signal (e.g., combine, multiply, etc.) to generate a down-converted signal, and send the down-converted signal to detector 212.

[0100] In some arrangements, mixer 208 may be configured to send a modulated LO signal to detector 212. Detector 212 may be configured to generate an electrical signal based on the down-converted signal and send the electrical signal to TIA 214. In some arrangements, detector 212 may be configured to generate an electrical signal based on both the down-converted signal and the modulated signal. TIA 214 may be configured to amplify the electrical signal and send the amplified electrical signal to sub-control system 101 via one or more ADCs 224. In some implementations, TIA 214 may have less than 5 picowatts per square root hertz (i.e., 5 x 10⁻⁶). -12 The peak noise equivalent power (NEP) is watts per square root hertz. In some implementations, the TIA 214 may have a gain between 4 kiloohms and 25 kiloohms. In some implementations, the detector 212 and / or the TIA 214 may have a bandwidth of 3 dB between 80 kHz and 450 MHz.

[0101] The sub-control system 101 can be configured to determine the distance to the object 218 and / or measure the velocity of the object 218 based on one or more electrical signals received from the TIA 214 via one or more ADCs 224.

[0102] Figure 3A block diagram depicts a portion of an example transceiver 300 for a LiDAR system according to some implementations of this disclosure. The transceiver 300 can be included in a LiDAR system, such as... Figure 2 The LIDAR system 200 (e.g., as transceiver 230).

[0103] Transceiver 300 may include a transmitter 305 (e.g., a Tx path) and a receiver 310 (e.g., an Rx path). The transmitter 305 may include or otherwise communicate with a light source (e.g., a laser source) 302. The light source 302 may be configured to provide a light beam (e.g., a laser beam) to the transmitter 305. In some implementations, a local oscillator (LO) signal 322 may be extracted from the light source 302. The LO signal 322 may be equivalent to the signal from the light source 302, or may be modulated from the signal from the light source 302 (e.g., by a modulated signal such as...). Figure 2 (LO modulator modulation of modulator 204B). In some implementations, the splitter is capable of splitting the beam from light source 302 into a first part provided as LO signal 322 and a second part provided to other components of transceiver 300.

[0104] Receiver 310 may include receiver photonic die 325 configured to receive a received beam from the environment. The received beam may be provided among a plurality of receive channels 314, each receiving channel 314 capturing a portion of a common emitted beam after being reflected by a corresponding point in the environment. In addition to the receive channels 314, receiver photonic die 325 may also include an LO channel 326 and an alignment channel 336, the LO channel 326 being configured to receive an LO signal 322 from transmitter 305, and the alignment channel 336 facilitating alignment with transmitter 305.

[0105] The light source 302 can provide a light beam to the modulator 304 (e.g., a phase modulator). The modulator 304 can be configured to modulate the light beam to modify its phase and / or frequency. In some embodiments, the modulator 304 can be a silicon phase modulator. The modulator 304 can modulate the light beam, for example, using continuous wave (CW) modulation or quasi-CW modulation. In some implementations, the modulator 304 can be disposed on an emitter die or another suitable substrate.

[0106] The transceiver 300 may also include one or more splitters configured to split the beam from the light source 302 among one or more channels 312, 324, and 334. For example, a splitter 308 (e.g., an optical splitter) can split the beam from the light source 302 among multiple transmit channels 312, each transmit channel 312 carrying a portion of the beam from the light source 302. For example, each transmit channel 312 may correspond to a specific transmit output (e.g., Tx0, Tx1, etc.). Each transmit channel 312 can provide a portion of the beam to a corresponding portion of the environment of the LIDAR system, enabling the LIDAR system to scan multiple neighboring points simultaneously. In addition to the transmit channels 312, the LO channel 324 can also provide the LO signal 322 to the receiver photonic die 325 as the LO channel 326.

[0107] Furthermore, splitter 306 can split the alignment signal 332 from the beam from the light source. Splitter 306 can be, for example, a 1x2 optical splitter. Alignment signal 332 can be provided to alignment channel 334. When transmitter 305 and receiver 310 are correctly aligned, alignment signal 332 can be successfully transmitted from alignment channel 334 of transmitter 305 to alignment channel 336 of receiver 310. In this way, alignment channels 334 and 336 can be used to evaluate the correct alignment of transceiver 300.

[0108] Transceiver 300 may include one or more amplifiers configured to receive and amplify a light beam from light source 302. The amplifiers may be, for example, semiconductor optical amplifiers (SOAs). For example, transceiver 300 may include a transmitter die 315 comprising one or more amplifiers (e.g., SOAs). In some embodiments, the amplifiers may be located in each transmit channel 312. Furthermore, in some embodiments, the amplifiers may not be located in the alignment channel 334 and / or the LO channel 324. In this way, the LO channel 324 can transmit the LO signal 322 to the receiver photonic die 325 without being amplified by multiple SOAs. The transmitter die 315 may or may not include transmitter 305 or other components of the transmit path, such as, for example, light source 302, modulator 304, or splitters 306, 308.

[0109] According to an example aspect of this disclosure, a light beam can be transmitted from the transmitter die 315 to the receiver photonic die 325 without entering a narrow waveguide. Specifically, the transceiver 300 can include a photonic interface 320 configured to interface the light beam between the transmitter die 315 and the receiver photonic die 325 by emitting the light beam into free space and receiving the light beam reflected from free space. An example configuration of the photonic interface 320 is referenced. Figures 4-7B To describe in more detail.

[0110] Figure 4 A perspective view of a portion of an example transceiver 400 for a LIDAR system according to some implementations of this disclosure is depicted. The transceiver 400 may include a transmitter die 410 having a plurality of channels 412. The transmitter die 410 may be configured to receive a transmitted beam from a light source (not shown) configured to output a transmitted beam. The transmitted beam may be branched among the plurality of channels 412. The transceiver 400 may additionally include a modulator configured to receive the transmitted beam from the light source and modify at least one of the phase or frequency of the transmitted beam. Additionally or alternatively, the transceiver 400 may include one or more amplifiers configured to receive the transmitted beam from the light source and amplify the transmitted beam. The amplifiers may be positioned after the modulator relative to the direction of travel of the transmitted beam. As an example, in some implementations, the amplifiers may each correspond to a channel 412 of the transmitter die 410. The transmitter die 410 may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

[0111] The light source can be configured to output an emitted beam in a first orientation. For example, the first orientation may be substantially coplanar with the emitting die 410 and / or the plurality of channels 412. The first orientation may, for example, be an angular orientation that typically describes the direction of photon motion in the emitted beam. The first orientation may be described relative to any suitable and consistent reference.

[0112] The transceiver 400 may also include a reflective surface 432 configured to redirect the emitted beam from a first orientation to a second orientation. For example, the beam may be provided from the emitter die 410 such that it strikes the reflective surface 432. The reflective surface 432 can then redirect photons incident on it from the first orientation to the second orientation. In some implementations, the second orientation is perpendicular or substantially perpendicular to the first orientation (e.g., within approximately 10 degrees of the normal). As an example, the second orientation may be perpendicular or substantially perpendicular to a plane that is substantially coplanar with the emitter die 410. The LIDAR system is able to emit the beam into the environment of the LIDAR system in the second orientation. For example, the second orientation may generally be directed away from the LIDAR system and / or AV. The second orientation may be directed in a direction associated with optics or other gaps within the housing of the LIDAR system.

[0113] In some implementations, the reflective surface 432 can be a flat surface (or a planar surface). For example, a portion of the reflective surface 432 on which the light beam is incident can be substantially flat or planar. As an example, a plane can be approximately fitted to the reflective surface 432 or a portion of the reflective surface 432 on which the light beam is incident. As another example, the reflective surface 432 can have a depth, wherein the depth of the reflective surface 432 is negligible. Additionally or alternatively, in some implementations, the reflective surface 432 can be a concave surface. For example, the reflective surface 432 can define a curvature across the surface of the substrate 430 on which the reflective surface 432 is disposed. The reflective surface 432 can have a center of curvature or focal point, which is arranged such that the light beam is reflected at substantially orthogonal angles.

[0114] To provide the emitted beam to the reflective surface 432, the transceiver 400 may include a lens interface 420. The lens interface 420 may be configured to receive the emitted beam in a first orientation and focus the emitted beam onto the reflective surface 432. For example, the lens interface 420 may include one or more lenses aligned with a plurality of channels 412. As an example, the centroid of the lenses in the lens interface 420 may be substantially co-located with the central axis of the channels 412. In some implementations, the lens interface 420 may include at least one first lens 422 configured to collimate the emitted beam to produce a collimated beam. The at least one first lens 422 may be a plurality of first lenses 422 respectively associated with channels 412. The lens interface 420 may also include at least one second lens 424 configured to focus the collimated beam onto a focal point on the reflective surface 432. For example, the at least one second lens 424 may be a plurality of second lenses 424 respectively associated with channels 412. Collimating and focusing the beam relative to channels 412 respectively can provide reduced divergence and improved detection fidelity in the emitted beam.

[0115] Transceiver 400 may also include receiver photonics die 440. Receiver photonics die 440 may be configured to receive a received beam from the environment (e.g., relative to multiple channels 412, respectively). To provide tightly controlled correlation between the transmitted and received beams, receiver photonics die 440 may be positioned above reflective surface 432 such that the transmitted beam passes through receiver photonics die 440 after being reflected by reflective surface 432. For example, receiver photonics die 440 may include a transmitting portion 442 through which the transmitted beam passes after being reflected by reflective surface 432. As used herein, “above” is intended to be defined relative to the direction in which the beam travels in a second orientation. For example, receiver photonics die 440 may be positioned above reflective surface 432 even if receiver photonics die 440 is not above reflective surface 432 relative to Earth’s gravity or another contrasting reference.

[0116] In some implementations, the reflective surface 432 may be disposed on the substrate 430. The substrate 430 may be separate from the transmitter die 410 and / or the receiver photonic die 440. The reflective surface 432 may be formed by a reflective coating on the substrate 430. As an example, the reflective coating may be a metallic coating. The substrate 430 may be substantially parallel to the receiver photonic die 440. Furthermore, the reflective surface 432 may be formed on an angled edge of the substrate. For example, a plane coplanar with the reflective surface 432 may not be parallel to or orthogonal to the plane defining the transmitter die 410, the receiver photonic die 440, or the substrate 430.

[0117] Figure 5A A side view of a portion of an example transceiver 500 for a LIDAR system according to some implementations of this disclosure is depicted. The transceiver 500 may include a light source 502. The light source 502 may be configured to provide an emission beam 505 (e.g., a laser beam) to downstream components of the transceiver 500.

[0118] For example, light source 502 can provide emitted beam 505 to modulator 504 (e.g., phase modulator). Modulator 504 can be configured to modulate emitted beam 505 to modify the phase and / or frequency of emitted beam 505. In some embodiments, modulator 504 can be a silicon phase modulator. Modulator 504 can modulate emitted beam 505 by, for example, using continuous wave (CW) modulation or quasi-CW modulation. In some implementations, modulator 504 can be disposed on an emitter die or another suitable substrate. Transceiver 500 can include one or more amplifiers 506 configured to receive emitted beam 505 from light source 502 or modulator 504 and amplify emitted beam 505. Amplifier 506 can be, for example, a semiconductor optical amplifier (SOA). As an example, transceiver 500 can include multiple amplifiers 506 respectively corresponding to multiple channels.

[0119] The transceiver 500 may also include a lens interface 508. The lens interface 508 may be configured to focus an emitted beam 505 from the amplifier 506 onto a reflective surface 512. The reflective surface 512 may be a coating (e.g., a metallic coating) on ​​a substrate 515. For example, the emitted beam 505 may be provided by the lens interface 508 such that the emitted beam 505 is incident on the reflective surface 512. The reflective surface 512 may then redirect photons incident on it from a first orientation to a second orientation. In some implementations, the second orientation is perpendicular or substantially perpendicular to the first orientation (e.g., within about 10 degrees of the normal). As an example, the second orientation may be perpendicular or substantially perpendicular to a plane that is substantially coplanar with the die including the amplifier 506. The LIDAR system is able to emit the emitted beam 505 into the environment of the LIDAR system in the second orientation. For example, the second orientation may generally be directed away from the LIDAR system and / or AV. The second orientation may be directed in a direction associated with optics or other gaps within the housing of the LIDAR system.

[0120] The reflecting surface 512 can be a flat surface (or a planar surface). For example, a portion of the reflecting surface 512 on which the emitted beam 505 is incident can be substantially flat or planar. As an example, a plane can be approximately fitted to the reflecting surface 512 or a portion of the reflecting surface 512 on which the emitted beam 505 is incident. As another example, the reflecting surface 512 can have depth, wherein the depth of the reflecting surface 512 is negligible.

[0121] Lens interface 508 may include one or more lenses 509. For example, in some implementations, lens interface 508 may include at least: a first lens configured to collimate the emitted beam 505 to produce a collimated beam and a second lens configured to focus the collimated beam at a focal point on reflective surface 512. Transceiver 500 may also include a half-wave plate (HWP) 510 configured to change the polarization direction of the emitted beam 505. HWP 510 may be made of a birefringent material (e.g., quartz, mica, or plastic) for which the refractive index differs for light linearly polarized along one or the other perpendicular crystal axis. HWP 510 may provide the ability to improve the isolation of light emitted by the LIDAR system from other light in the environment.

[0122] Transceiver 500 may also include receiver photonics die 520. Receiver photonics die 520 may be configured to receive a receive beam 525 from the environment (e.g., relative to multiple channels, respectively). To provide tightly controlled correlation between the transmit beam 505 and the receive beam 525, receiver photonics die 520 may be positioned above reflective surface 512 such that the transmit beam 505 passes through receiver photonics die 520 after being reflected by reflective surface 512. For example, receiver photonics die 520 may include a emitting portion 522 through which the transmit beam 505 passes after being reflected by reflective surface 512. As used herein, “above” is intended to be defined relative to the direction of travel of the transmit beam 505 in a second orientation. For example, if the transmit beam 505 passes through receiver photonics die 520 after being reflected by reflective surface 512, receiver photonics die 520 may be positioned above reflective surface 512 even if receiver photonics die 520 is not above reflective surface 512 relative to Earth's gravity or another contrast reference.

[0123] Furthermore, the receiver photonic die 520 may include a receiver portion 524 offset from the emitter portion 522. The receiver portion 524 may be configured to receive a receive beam 525 from the environment of the LIDAR system and to provide the receive beam 525 to at least one photonic component on the receiver photonic die 520 and / or downstream components of the LIDAR system (e.g., a mixer or signal processing photonic device). For example, the receiver portion 524 may be opaque to the receive beam 525. As an example, the receiver portion 524 may be formed of a waveguide or other light-directing component. As another example, the interface between the substrate 515 and the receiver photonic die 520 may be opaque to the receive beam 525.

[0124] Figure 5B A side view of a portion of an example transceiver 550 for a LiDAR system, according to some implementations of this disclosure, is depicted. Transceiver 550 includes reference numerals. Figure 5AThe various components discussed are represented using the same reference numerals. Unless otherwise specified, reference numerals are used. Figure 5A The aspects discussed are also intended to apply to Figure 5B The embodiments described herein.

[0125] Figure 5B The transceiver 550 may include a reflective surface 552. Figure 5B The reflective surface 552 can be similar to Figure 5A The reflective surface 512. With Figure 5A Unlike the reflective surface 512, the reflective surface 552 can be a concave surface. For example, the reflective surface 552 can define a curvature across the surface of the substrate 515. The reflective surface 552 can have a center of curvature or a focal point, which is arranged such that the emitted beam 505 is reflected at substantially orthogonal angles.

[0126] Figure 6 A perspective view of a portion of an example transceiver 600 for a LIDAR system according to some implementations of this disclosure is depicted. The transceiver 600 may include a transmitter die 610 having a plurality of channels 612. The transmitter die 610 may be configured to receive a transmitted beam from a light source (not shown) configured to output a transmitted beam. The transmitted beam may be branched among the plurality of channels 612. The transceiver 600 may additionally include a modulator configured to receive the transmitted beam from the light source and modify at least one of the phase or frequency of the transmitted beam. Additionally or alternatively, the transceiver 600 may include one or more amplifiers configured to receive the transmitted beam from the light source and amplify the transmitted beam. The amplifiers may be positioned after the modulator relative to the direction of travel of the transmitted beam. As an example, in some implementations, the amplifiers may each correspond to a channel 612 of the transmitter die 610. The transmitter die 610 may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

[0127] The light source can be configured to output an emitted beam in a first orientation. For example, the first orientation may be substantially coplanar with the emitting die 610 and / or the plurality of channels 612. The first orientation may, for example, be an angular orientation that typically describes the direction of photon motion in the emitted beam. The first orientation may be described relative to any suitable and consistent reference.

[0128] The transceiver 600 may also include a reflective surface 632 configured to redirect the emitted beam from a first orientation to a second orientation. For example, the beam may be provided from the emitter die 610 such that it strikes the reflective surface 632. The reflective surface 632 can then redirect photons incident on it from the first orientation to the second orientation. In some implementations, the second orientation is perpendicular or substantially perpendicular to the first orientation (e.g., within approximately 10 degrees of the normal). As an example, the second orientation may be perpendicular or substantially perpendicular to a plane that is generally coplanar with the emitter die 610. The LIDAR system is able to emit the beam into the environment of the LIDAR system in the second orientation. For example, the second orientation may generally be directed away from the LIDAR system and / or AV. The second orientation may be directed in a direction associated with optics or other gaps within the housing of the LIDAR system.

[0129] In some implementations, the reflecting surface 632 can be a flat surface (or a planar surface). For example, a portion of the reflecting surface 632 on which the light beam is incident can be substantially flat or planar. As an example, a plane can be approximately fitted to the reflecting surface 632 or a portion of the reflecting surface 632 on which the light beam is incident. As another example, the reflecting surface 632 can have depth, wherein the depth of the reflecting surface 632 is negligible. Additionally or alternatively, in some implementations, the reflecting surface 632 can be a concave surface. For example, the reflecting surface 632 can define a curvature on the surface of the substrate 630. The reflecting surface 632 can have a center of curvature or focal point, which is arranged such that the light beam is reflected at substantially orthogonal angles.

[0130] To deliver the emitted beam to the reflective surface 632, the transceiver 600 may include a lens interface 620. The lens interface 620 may be configured to receive the emitted beam in a first orientation and focus it onto the reflective surface 632. For example, the lens interface 620 may include one or more lenses 622 aligned with the plurality of channels 612. As an example, the centroid of the lens 622 in the lens interface 620 may be substantially co-located with the central axis of the channel 612.

[0131] The transceiver 600 may also include a receiver photonic die 640. The receiver photonic die 640 may be configured to receive a received beam from the environment (e.g., relative to multiple channels 612, respectively). To provide tightly controlled correlation between the transmitted and received beams, the receiver photonic die 640 may be positioned above the reflective surface 632 such that the transmitted beam passes through the receiver photonic die 640 after being reflected by the reflective surface 632. For example, the receiver photonic die 640 may include a transmitting portion 662 through which the transmitted beam passes after being reflected by the reflective surface 632. As used herein, “above” is intended to be defined relative to the direction in which the beam travels in a second orientation. For example, if the transmitted beam passes through the receiver photonic die 640 after being reflected by the reflective surface 632, the receiver photonic die 640 may be positioned above the reflective surface 632 even if the photonic die 640 is not above the reflective surface 632 relative to Earth's gravity or another contrast reference.

[0132] Furthermore, the receiver photonic die 640 may include a receiver portion 664 offset from the emitter portion 662. The receiver portion 664 may be configured to receive a received beam from the environment of the LIDAR system and provide the received beam to at least one photonic component on the receiver photonic die 640 and / or downstream components of the LIDAR system (e.g., a mixer or signal processing photonic device). For example, the receiver portion 664 may be opaque to the received beam. As an example, the receiver portion 664 may be formed of a waveguide or other light steering component.

[0133] In some implementations, the reflective surface 632 may be disposed on the substrate 630. The substrate 630 may be separate from the transmitter die 610 and / or the receiver photonic die 640. The reflective surface 632 may be formed by a reflective coating on the substrate 630. As an example, the reflective coating may be a metallic coating. The substrate 630 may be substantially parallel to the receiver photonic die 640. Furthermore, the reflective surface 632 may be formed on an angled edge of the substrate. For example, a plane coplanar with the reflective surface 632 may not be parallel to or orthogonal to the plane defining the transmitter die 610, the receiver photonic die 640, or the substrate 630.

[0134] The substrate 630 and the receiver photonic die 640 may each include one or more alignment guides 635 indicating alignment between the substrate 630 and the receiver photonic die 640. For example, the alignment guide 635 may be a common or related pattern between the substrate 630 and the receiver photonic die 640. Therefore, the alignment guide 635 can be measured during manufacturing to indicate when the substrate 630 and the receiver photonic die 640 are correctly aligned. As an example, the alignment guide 635 may be formed by photolithography or other high-precision processes, enabling the alignment guide 635 to provide a level of accuracy that meets the stringent constraints associated with this LIDAR system.

[0135] Figure 7A A top view depicts a portion of an example transceiver 700 for a LiDAR system according to some implementations of this disclosure. Furthermore, Figure 7B Some implementations according to this disclosure are described. Figure 7A A side view of a portion of the example transceiver 700.

[0136] Transceiver 700 may include a transmitter die 710 having multiple channels 715, including one or more transmitter channels 712, alignment channels 714, and LO channels 716. The transmitter die 710 may be configured to receive a transmitted beam 762 from a light source (not shown) configured to output a transmitted beam 762. The transmitted beam 762 may be branched among the multiple channels 715. Transceiver 700 may additionally include a modulator configured to receive the transmitted beam 762 from the light source and modify at least one of the phase or frequency of the transmitted beam 762. Additionally or alternatively, transceiver 700 may include one or more amplifiers configured to receive the transmitted beam 762 from the light source and amplify the transmitted beam 762. The amplifiers may be positioned after the modulator relative to the direction of travel of the transmitted beam 762. As an example, in some implementations, the amplifiers may each correspond to a transmitter channel 712 of the transmitter die 710. The transmitter die 710 may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

[0137] The light source can be configured to output an emitted beam 762 with a first orientation. For example, the first orientation may be substantially coplanar with the emitting die 710 and / or the plurality of channels 715. The first orientation may, for example, be an angular orientation that generally describes the direction of photon motion in the emitted beam 762. The first orientation may be described relative to any suitable and consistent reference.

[0138] The transceiver 700 may also include a first reflective surface 732 configured to redirect the emitted beam 762 from a first orientation to a second orientation. For example, the beam may be provided from the emitter die 710 such that the beam is incident on the first reflective surface 732. The first reflective surface 732 can then redirect photons incident on it from the first orientation to the second orientation. In some implementations, the second orientation is perpendicular or substantially perpendicular to the first orientation (e.g., within about 10 degrees of the normal). As an example, the second orientation may be perpendicular or substantially perpendicular to a plane that is generally coplanar with the emitter die 710. The LIDAR system is able to emit the emitted beam 762 into the environment of the LIDAR system in the second orientation. For example, the second orientation may generally be directed away from the LIDAR system and / or AV. The second orientation may be directed in a direction associated with optics or other gaps within the housing of the LIDAR system.

[0139] To provide the emitted beam 762 to the first reflective surface 732, the transceiver 700 may include a first lens interface 720. The first lens interface 720 may be configured to receive the emitted beam 762 in a first orientation and focus the emitted beam 762 onto the first reflective surface 732. For example, the first lens interface 720 may include one or more lenses aligned with a plurality of channels 715. As an example, the centroid of the lens in the first lens interface 720 may be substantially co-located with the central axis of the channel 715. In some implementations, the first lens interface 720 may include at least one first lens 722 configured to collimate the emitted beam 762 to produce a collimated beam. The at least one first lens 722 may be a plurality of first lenses 722 respectively associated with the channel 715. The first lens interface 720 may also include a half-wave plate (HWP) 724 configured to change the polarization direction of the emitted beam 762. HWP 724 can be made of a birefringent material (e.g., quartz, mica, or plastic) for which the refractive index differs for light linearly polarized along one or the other perpendicular crystal axis. HWP 724 can provide improved isolation of the light emitted by the LIDAR system from other light in the environment. The first lens interface 720 can additionally include at least one second lens 726 configured to focus the collimated beam onto a focal point on the reflective surface 732. For example, at least one second lens 726 can be a plurality of second lenses 726 respectively associated with channel 715. Collimating and focusing the beam relative to channel 715 respectively can provide reduced divergence and improved detection fidelity in the emitted beam 762.

[0140] Transceiver 700 may also include receiver photonic die 750. Receiver photonic die 750 may be configured to receive a receive beam 764 from the environment (e.g., relative to a plurality of channels 715, respectively). To provide tightly controlled correlation between the transmit beam 762 and the receive beam 764, receiver photonic die 750 may be substantially coplanar with transmit die 710. Furthermore, to transmit beams from transmit die 710 to receiver photonic die 750, transceiver 700 may transmit signals from alignment channel 714 and LO channel 716 of transmit die 710 to corresponding alignment channels 754 and LO channels 756 of receiver photonic die 750 (e.g., not reflected by the first reflective surface 732).

[0141] Furthermore, the transceiver 700 may also include a second reflective surface 734 configured to receive a receive beam 764 from the environment of the LIDAR system and provide the receive beam 764 among a plurality of receive channels 752. The receive beam 764 may be received in a second orientation and redirected from the second orientation to a first orientation by the second reflective surface 734. The transceiver 700 may additionally include a second lens interface 740 configured to focus the receive beam 764 into a receiver photonic die 750. In some implementations, the second lens interface 740 may include at least one first lens 742 configured to collimate the emitted beam 762 to generate a collimated beam. The at least one first lens 742 may be a plurality of first lenses 742 respectively associated with a channel 755 of the receiver photonic die 750. The second lens interface 740 may also include at least one second lens 744 configured to focus the collimated beam onto a focal point on the reflective surface 732. For example, at least one second lens 744 can be a plurality of second lenses 744 associated with channel 755 respectively. Collimating and focusing the beam relative to channel 755 respectively can provide reduced divergence and improved detection fidelity in the emitted beam 762.

[0142] For example, a portion of the beam from the transmit channel 712 can be focused by the first lens interface 720 onto the first reflective surface 732, emitted into free space, reflected from an object in free space, causing the beam to be incident on the second reflective surface 734, reflected from the second reflective surface 734 into the second lens interface 740, and focused by the second lens interface 740 into multiple receive channels 752. In this way, the beam can be completely transmitted from channel 715 of the transmit die 710 to the corresponding channel 755 of the receiver photonic die 750 without incurring the conventional losses associated with wavelet guides.

[0143] In some implementations, the first reflective surface 732 and the second reflective surface 734 can be disposed on a common substrate 730. The substrate 730 can be separated from the transmitter die 710 and / or the receiver photonic die 750. The reflective surfaces 732 and 734 can be formed by a reflective coating on the substrate 730. As an example, the reflective coating can be a metallic coating.

[0144] The reflecting surfaces 732 and 734 can be flat surfaces (or planar surfaces). For example, portions of the reflecting surfaces 732 and 734 onto which the emitted beam 762 or the received beam 764 is incident can be substantially flat or planar. As an example, a plane can be approximately fitted to the reflecting surfaces 732 and 734. As another example, the reflecting surfaces 732 and 734 can have depth, wherein the depth of the reflecting surfaces 732 and 734 is negligible.

[0145] Figure 8 A side view depicts a portion of an example transceiver 800 for a LIDAR system according to some implementations of this disclosure. The transceiver 800 includes components related to a reference... Figures 7A-7B The various components discussed are denoted using the same reference numerals. Unless otherwise specified, reference numerals are used. Figures 7A-7B The aspects discussed are also intended to apply to Figure 8 The embodiments described herein.

[0146] The transceiver 800 includes a substrate 830 having a first reflective surface 832 and a second reflective surface 834. As discussed with reference to FIG. 7, the reflective surfaces 834 can be respectively arranged to transmit a transmitted beam 762 into free space and receive reflected beams 764 reflected from objects in free space. The LIDAR system can infer information about these objects in free space based on the characteristics of the reflected beams 764. The reflective surfaces 832 and 834 can be concave surfaces, respectively. For example, the reflective surfaces 832 and 834 can define curvatures on the surface of the substrate 830, respectively. The reflective surfaces 832 and 834 can have a center of curvature or a focal point, which are arranged such that the transmitted beam 762 or the received beam 764 is reflected at substantially orthogonal angles, respectively.

[0147] The techniques disclosed herein are described below in the context of LIDAR systems and autonomous vehicles for illustrative purposes only. As stated herein, the techniques described are not limited to autonomous vehicles and can be implemented for or used in other systems, autonomous platforms, and other computing systems.

Claims

1. A light detection and ranging (LIDAR) system for a vehicle, the LIDAR system comprising: A light source configured to output an emitted light beam in a first orientation; A reflective surface configured to redirect the emitted light beam from a first orientation to a second orientation; as well as A lens interface configured to receive the emitted light beam in the first orientation and focus the emitted light beam onto the reflective surface; The LIDAR system emits the transmitted beam into the environment of the LIDAR system in the second orientation.

2. The LIDAR system according to claim 1, wherein, The reflective surface includes a flat surface.

3. The LIDAR system according to claim 1, wherein, The reflective surface includes a concave surface.

4. The LIDAR system according to claim 1, further comprising: An amplifier configured to receive the emitted beam from the light source and amplify the emitted beam.

5. The LIDAR system according to claim 1, wherein, The lens interface includes a lens array, which comprises multiple lenses corresponding to multiple channels.

6. The LIDAR system according to claim 1, wherein, The lens interface includes at least: A first lens configured to collimate the emitted beam to produce a collimated beam, and A second lens configured to focus the collimated beam at a focal point on the reflective surface.

7. The LIDAR system according to claim 1, wherein, The LIDAR system also includes: A half-wave plate (HWP) configured to change the polarization direction of the emitted beam.

8. The LIDAR system according to claim 1, wherein, The LIDAR system also includes: A receiver photonic chip, configured to receive a receiving beam from the environment of the LIDAR system.

9. The LIDAR system according to claim 8, wherein, The receiver photonic chip is substantially transparent to the emitted beam, and wherein The receiver photonic chip is positioned above the reflective surface, such that the emitted light beam passes through the receiver photonic chip after being reflected by the reflective surface.

10. The LIDAR system according to claim 9, wherein, The receiver photonic chip includes an emitting portion through which the emitted beam passes and a receiving portion offset from the emitting portion. The receiving section is configured to receive the received beam from the environment of the LIDAR system and provide the received beam to at least one photonic component on the receiver photonic die.

11. The LIDAR system according to claim 9, wherein, The reflective surface is disposed on the substrate, and wherein The substrate and the receiver photonic die each include one or more alignment guides that indicate alignment between the substrate and the receiver photonic die.

12. The LIDAR system according to claim 8, wherein, The receiver photonic die and the transmitter die are substantially coplanar, and the transmitter die is configured to provide the emitted beam from the light source to the lens interface; and The LIDAR system also includes: A second reflective surface, configured to receive the received light beam in the second orientation and redirect the received light beam from the second orientation to the first orientation; and A second lens interface is configured to focus the received light beam onto the receiver photonic chip.

13. The LIDAR system according to claim 8, wherein, The receiver photonic chip comprises silicon.

14. A light detection and ranging (LIDAR) system for a vehicle, the LIDAR system comprising: A light source configured to output an emitted light beam in a first orientation; At least one splitter, the at least one splitter being configured to split the emitted beam among multiple channels; The transmitting die includes a plurality of semiconductor optical amplifiers (SOAs) configured to amplify the emitted beam among the plurality of channels. A reflective surface configured to redirect the emitted light beam from a first orientation to a second orientation; A lens interface configured to receive the emitted light beam in the first orientation and focus the emitted light beam onto the reflective surface; as well as A receiver photonic chip is disposed above the reflective surface, wherein the receiver photonic chip is substantially transparent to the emitted light beam; in, After passing through the receiver photonic die, the LIDAR system emits the emitted beam into the environment of the LIDAR system in the second orientation.

15. A light detection and ranging (LIDAR) system for a vehicle, the LIDAR system comprising: A light source configured to output an emitted light beam in a first orientation; At least one splitter, the at least one splitter being configured to split the emitted beam among multiple channels; The transmitting die includes a plurality of semiconductor optical amplifiers (SOAs) configured to amplify the emitted beam among the plurality of channels. A first reflective surface is configured to redirect the emitted beam from a first orientation to a second orientation, wherein the LIDAR system emits the emitted beam into the environment of the LIDAR system with the second orientation; A first lens interface is configured to receive the emitted light beam in the first orientation and focus the emitted light beam onto the first reflective surface; A second reflective surface, configured to reflect a received beam of light from the environment of the LIDAR system in the second orientation and redirect the received beam to the first orientation; A receiver photonic chip, wherein the receiver photonic chip and the transmitter chip are substantially coplanar; and A second lens interface is configured to focus the received light beam from the second reflective surface onto the receiver photonic die.

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