Color filter array for vehicular image sensors

Abstract

In an example implementation, a method includes a color filter array including a plurality of units arranged according to a spatially repeating pattern. Each of the units includes a color filter element having a first area, and an optically clear element having a second area, where the first planar is less than the second area. The color filter array is configured to receive light from an environment of the apparatus, filter at least a portion of the light using the units, and transmit at least a portion of the filtered light to an image sensor.

Description

COLOR FILTER ARRAY FOR VEHICULAR IMAGE SENSORSBACKGROUND[1] Image sensors, such as cameras, detect and convey information used to form an image. As an example, an image sensor includes one or more photodiodes that are sensitive to light. The image sensor receives light from its environment (e.g., light reflecting from one or more objects in the environment), directs the light to the photodiodes, and measures electrical signals output by the photodiodes in response to the light. The image sensor generates one or more spatially resolved images based on the electrical signals.[2] In some implementations, a vehicle (e.g., an autonomous vehicle) can include one or more image sensors to detect objects in its environment, such as other vehicles, obstacles, pedestrians, etc.BRIEF DESCRIPTION OF THE FIGURES[3] FIG. 1 is an example environment in which a vehicle including one or more components of an autonomous system can be implemented;[4] FIG. 2 is a diagram of one or more systems of a vehicle including an autonomous system;[5] FIG. 3 is a diagram of components of one or more devices and / or one or more systems of FIGS. 1 and 2;[6] FIG. 4 is a diagram of certain components of an autonomous system;[7] FIG. 5 is a diagram of an example image sensor;[8] FIG. 6 is a diagram of an example color filter array and an example photodiode array; and[9] FIG. 7 is a diagram of an example pixel resources of photodiodes.DETAILED DESCRIPTION

[0010] In the following description numerous specific details are set forth in order to provide a thorough understanding of the present disclosure for the purposes ofexplanation. It will be apparent, however, that the embodiments described by the present disclosure can be practiced without these specific details. In some instances, well-known structures and devices are illustrated in block diagram form in order to avoid unnecessarily obscuring aspects of the present disclosure.

[0011] Specific arrangements or orderings of schematic elements, such as those representing systems, devices, modules, instruction blocks, data elements, and / or the like are illustrated in the drawings for ease of description. However, it will be understood by those skilled in the art that the specific ordering or arrangement of the schematic elements in the drawings is not meant to imply that a particular order or sequence of processing, or separation of processes, is required unless explicitly described as such. Further, the inclusion of a schematic element in a drawing is not meant to imply that such element is required in all embodiments or that the features represented by such element may not be included in or combined with other elements in some embodiments unless explicitly described as such.

[0012] Further, where connecting elements such as solid or dashed lines or arrows are used in the drawings to illustrate a connection, relationship, or association between or among two or more other schematic elements, the absence of any such connecting elements is not meant to imply that no connection, relationship, or association can exist. In other words, some connections, relationships, or associations between elements are not illustrated in the drawings so as not to obscure the disclosure. In addition, for ease of illustration, a single connecting element can be used to represent multiple connections, relationships or associations between elements. For example, where a connecting element represents communication of signals, data, or instructions (e g., “software instructions”), it should be understood by those skilled in the art that such element can represent one or multiple signal paths (e.g., a bus), as may be needed, to affect the communication.

[0013] Although the terms first, second, third, and / or the like are used to describe various elements, these elements should not be limited by these terms. The terms first, second, third, and / or the like are used only to distinguish one element from another. For example, a first contact could be termed a second contact and, similarly, a second contact could be termed a first contact without departing from the scope of the described embodiments.The first contact and the second contact are both contacts, but they are not the same contact.

[0014] The terminology used in the description of the various described embodiments herein is included for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the description of the various described embodiments and the appended claims, the singular forms “a,” “an” and “the” are intended to include the plural forms as well and can be used interchangeably with “one or more” or “at least one,” unless the context clearly indicates otherwise. It will also be understood that the term “and / or” as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. It will be further understood that the terms “includes,” “including,” “comprises,” and / or “comprising,” when used in this description specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0015] As used herein, the terms “communication” and “communicate” refer to at least one of the reception, receipt, transmission, transfer, provision, and / or the like of information (or information represented by, for example, data, signals, messages, instructions, commands, and / or the like). For one unit (e.g., a device, a system, a component of a device or system, combinations thereof, and / or the like) to be in communication with another unit means that the one unit is able to directly or indirectly receive information from and / or send (e.g., transmit) information to the other unit. This may refer to a direct or indirect connection that is wired and / or wireless in nature. Additionally, two units may be in communication with each other even though the information transmitted may be modified, processed, relayed, and / or routed between the first and second unit. For example, a first unit may be in communication with a second unit even though the first unit passively receives information and does not actively transmit information to the second unit. As another example, a first unit may be in communication with a second unit if at least one intermediary unit (e.g., a third unit located between the first unit and the second unit) processes information received from the first unit and transmits the processed information to the second unit. In some embodiments,a message may refer to a network packet (e g., a data packet and / or the like) that includes data.

[0016] As used herein, the term “if” is, optionally, construed to mean “when”, “upon”, “in response to determining,” “in response to detecting,” and / or the like, depending on the context. Similarly, the phrase “if it is determined” or “if [a stated condition or event] is detected” is, optionally, construed to mean “upon determining,” “in response to determining,” “upon detecting [the stated condition or event],” “in response to detecting [the stated condition or event],” and / or the like, depending on the context. Also, as used herein, the terms “has”, “have”, “having”, or the like are intended to be open-ended terms. Further, the phrase “based on” is intended to mean “based at least partially on” unless explicitly stated otherwise.

[0017] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the various described embodiments. However, it will be apparent to one of ordinary skill in the art that the various described embodiments can be practiced without these specific details. In other instances, well-known methods, procedures, components, circuits, and networks have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0018] General Overview

[0019] In some aspects and / or embodiments, systems and apparatus described herein include and / or implement color filter arrays for vehicular image sensors, such as those used in autonomous vehicles.

[0020] In an example implementation, an image sensor includes a photodiode array and a color filter array. During an example operation, the image sensor receives light from the environment, directs the light through the color filter array and towards the photodiode array, and detects the filtered light that is incident on the photodiode array. The image sensor generates an image based on the detected light.

[0021] The photodiode array includes several units arranged in a spatially repeating pattern. Each unit includes a pair of photodiodes, where one photodiode is larger (and thus, more sensitive to light) than the other photodiode. For each pair of photodiodes,the image sensor combines outputs from the photodiodes differently to generate outputs representing different dynamic ranges of light.

[0022] Further, the color filter array also includes several units arranged in a spatially repeating pattern (e.g., a grid, matrix, or mosaic).

[0023] Each unit of the color filter array is configured to filter light from the environment, and direct the filtered light to a respective unit of the photodiode array (e.g., such that the unit of the photodiode array detects light having a particular color or colors). Further, each unit includes a pair of filter elements, where one filter element is larger than the other filter element. For each unit, the larger filter element is an optically clear element (e.g., configured to pass substantially all wavelengths of light), and the smaller filter element is a color filter element (e.g., configured to pass a particular color of light, such as red, green, or blue).

[0024] At least in some embodiments, the color filter arrays described herein enable an image sensor to detect light according to a higher sensitivity (e.g., compared to an image sensor without the color filter arrays described herein), while maintaining the ability to distinguish different colors of light.

[0025] For example, in the color filter array, the clear elements allow substantially all light to pass from the environment onto the corresponding larger photodiodes of the photodiode array. This enables the image sensor to detect light monochromatically according to a higher degree of sensitivity (e.g., compared to an image sensor that filters light according to particular colors and / or wavelengths before directing the filtered light to the larger photodiodes, which may attenuate the intensity of that light). This may be particularly suitable for detecting features of the environment in low light conditions.

[0026] Further, in the color filter array, the color filters pass light having specific colors from the environment onto the corresponding smaller photodiodes of the photodiode array. This enables the image sensor to distinguish between different colors of light.

[0027] At least some of the implementations described herein are particularly beneficial for use in vehicular image sensors. For example, implementations of the color filter array described herein enable a vehicular image sensor to detect objects in the environment according to a high degree of sensitivity, while maintaining the ability to discern between different colors of light (e.g., different colors of light emitted by a traffic light). Accordingly,a vehicle (e g., an autonomous vehicle) can sense its environment more accurately and operate in a safer manner in a various lighting conditions.

[0028] Referring now to FIG. 1 , illustrated is example environment 100 in which vehicles that include autonomous systems, as well as vehicles that do not, are operated. As illustrated, environment 100 includes vehicles 102a-102n, objects 104a-104n, routes 106a-106n, area 108, vehicle-to-infrastructure (V2I) device 110, network 112, remote autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118. Vehicles 102a-102n, vehicle-to-infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 interconnect (e.g., establish a connection to communicate and / or the like) via wired connections, wireless connections, or a combination of wired or wireless connections. In some embodiments, objects 104a-104n interconnect with at least one of vehicles 102a- 102n, vehicle-to-infrastructure (V2I) device 110, network 112, autonomous vehicle (AV) system 114, fleet management system 116, and V2I system 118 via wired connections, wireless connections, or a combination of wired or wireless connections.

[0029] Vehicles 102a-102n (referred to individually as vehicle 102 and collectively as vehicles 102) include at least one device configured to transport goods and / or people. In some embodiments, vehicles 102 are configured to be in communication with V2I device 110, remote AV system 114, fleet management system 116, and / or V2I system 118 via network 112. In some embodiments, vehicles 102 include cars, buses, trucks, trains, and / or the like. In some embodiments, vehicles 102 are the same as, or similar to, vehicles 200, described herein (see FIG. 2). In some embodiments, a vehicle 200 of a set of vehicles 200 is associated with an autonomous fleet manager. In some embodiments, vehicles 102 travel along respective routes 106a-106n (referred to individually as route 106 and collectively as routes 106), as described herein. In some embodiments, one or more vehicles 102 include an autonomous system (e.g., an autonomous system that is the same as or similar to autonomous system 202).

[0030] Objects 104a-104n (referred to individually as object 104 and collectively as objects 104) include, for example, at least one vehicle, at least one pedestrian, at least one cyclist, at least one structure (e.g., a building, a sign, a fire hydrant, etc.), and / or the like. Each object 104 is stationary (e.g., located at a fixed location for a period of time) ormobile (e.g., having a velocity and associated with at least one trajectory). In some embodiments, objects 104 are associated with corresponding locations in area 108.

[0031] Routes 106a-106n (referred to individually as route 106 and collectively as routes 106) are each associated with (e.g., prescribe) a sequence of actions (also known as a trajectory) connecting states along which an AV can navigate. Each route 106 starts at an initial state (e.g., a state that corresponds to a first spatiotemporal location, velocity, and / or the like) and ends at a final goal state (e.g., a state that corresponds to a second spatiotemporal location that is different from the first spatiotemporal location) or goal region (e.g. a subspace of acceptable states (e.g., terminal states)). In some embodiments, the first state includes a location at which an individual or individuals are to be picked-up by the AV and the second state or region includes a location or locations at which the individual or individuals picked-up by the AV are to be dropped-off. In some embodiments, routes 106 include a plurality of acceptable state sequences (e.g., a plurality of spatiotemporal location sequences), the plurality of state sequences associated with (e.g., defining) a plurality of trajectories. In an example, routes 106 include only high level actions or imprecise state locations, such as a series of connected roads dictating turning directions at roadway intersections. Additionally, or alternatively, routes 106 may include more precise actions or states such as, for example, specific target lanes or precise locations within the lane areas and targeted speed at those positions. In an example, routes 106 include a plurality of precise state sequences along the at least one high level action sequence with a limited lookahead horizon to reach intermediate goals, where the combination of successive iterations of limited horizon state sequences cumulatively correspond to a plurality of trajectories that collectively form the high level route to terminate at the final goal state or region.

[0032] Area 108 includes a physical area (e.g. , a geographic region) within which vehicles 102 can navigate. In an example, area 108 includes at least one state (e.g., a country, a province, an individual state of a plurality of states included in a country, etc.), at least one portion of a state, at least one city, at least one portion of a city, etc. In some embodiments, area 108 includes at least one named thoroughfare (referred to herein as a “road”) such as a highway, an interstate highway, a parkway, a city street, etc. Additionally, or alternatively, in some examples area 108 includes at least one unnamedroad such as a driveway, a section of a parking lot, a section of a vacant and / or undeveloped lot, a dirt path, etc. In some embodiments, a road includes at least one lane (e.g., a portion of the road that can be traversed by vehicles 102). In an example, a road includes at least one lane associated with (e.g., identified based on) at least one lane marking.

[0033] Vehicle-to-lnfrastructure (V2I) device 110 (sometimes referred to as a Vehicle-to- Infrastructure or Vehicle-to-Everything (V2X) device) includes at least one device configured to be in communication with vehicles 102 and / or V2I infrastructure system 118. In some embodiments, V2I device 110 is configured to be in communication with vehicles 102, remote AV system 114, fleet management system 116, and / or V2I system 118 via network 112. In some embodiments, V2I device 110 includes a radio frequency identification (RFID) device, signage, cameras (e.g., two-dimensional (2D) and / or three- dimensional (3D) cameras), lane markers, streetlights, parking meters, etc. In some embodiments, V2I device 110 is configured to communicate directly with vehicles 102. Additionally, or alternatively, in some embodiments V2I device 110 is configured to communicate with vehicles 102, remote AV system 114, and / or fleet management system 116 via V2I system 118. In some embodiments, V2I device 110 is configured to communicate with V2I system 118 via network 112.

[0034] Network 112 includes one or more wired and / or wireless networks. In an example, network 112 includes a cellular network (e.g., a long term evolution (LTE) network, a third generation (3G) network, a fourth generation (4G) network, a fifth generation (5G) network, a code division multiple access (CDMA) network, etc.), a public land mobile network (PLMN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), a telephone network (e.g., the public switched telephone network (PSTN), a private network, an ad hoc network, an intranet, the Internet, a fiber opticbased network, a cloud computing network, etc., a combination of some or all of these networks, and / or the like.

[0035] Remote AV system 114 includes at least one device configured to be in communication with vehicles 102, V2I device 110, network 112, fleet management system 116, and / or V2I system 118 via network 112. In an example, remote AV system 114 includes a server, a group of servers, and / or other like devices. In someembodiments, remote AV system 114 is co-located with the fleet management system 116. In some embodiments, remote AV system 114 is involved in the installation of some or all of the components of a vehicle, including an autonomous system, an autonomous vehicle compute, software implemented by an autonomous vehicle compute, and / or the like. In some embodiments, remote AV system 114 maintains (e.g., updates and / or replaces) such components and / or software during the lifetime of the vehicle.

[0036] Fleet management system 116 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and / or V2I infrastructure system 118. In an example, fleet management system 116 includes a server, a group of servers, and / or other like devices. In some embodiments, fleet management system 116 is associated with a ridesharing company (e.g., an organization that controls operation of multiple vehicles (e.g., vehicles that include autonomous systems and / or vehicles that do not include autonomous systems) and / or the like).

[0037] In some embodiments, V2I system 118 includes at least one device configured to be in communication with vehicles 102, V2I device 110, remote AV system 114, and / or fleet management system 116 via network 112. In some examples, V2I system 118 is configured to be in communication with V2I device 110 via a connection different from network 112. In some embodiments, V2I system 118 includes a server, a group of servers, and / or other like devices. In some embodiments, V2I system 118 is associated with a municipality or a private institution (e.g., a private institution that maintains V2I device 110 and / or the like).

[0038] The number and arrangement of elements illustrated in FIG. 1 are provided as an example. There can be additional elements, fewer elements, different elements, and / or differently arranged elements, than those illustrated in FIG. 1. Additionally, or alternatively, at least one element of environment 100 can perform one or more functions described as being performed by at least one different element of FIG. 1 . Additionally, or alternatively, at least one set of elements of environment 100 can perform one or more functions described as being performed by at least one different set of elements of environment 100.

[0039] Referring now to FIG. 2, vehicle 200 (which may be the same as, or similar to vehicles 102 of FIG. 1 ) includes or is associated with autonomous system 202, powertraincontrol system 204, steering control system 206, and brake system 208. In some embodiments, vehicle 200 is the same as or similar to vehicle 102 (see FIG. 1 ). In some embodiments, autonomous system 202 is configured to confer vehicle 200 autonomous driving capability (e.g., implement at least one driving automation or maneuver-based function, feature, device, and / or the like that enable vehicle 200 to be partially or fully operated without human intervention including, without limitation, fully autonomous vehicles (e.g., vehicles that forego reliance on human intervention such as Level 5 ADS- operated vehicles), highly autonomous vehicles (e.g., vehicles that forego reliance on human intervention in certain situations such as Level 4 ADS-operated vehicles), conditional autonomous vehicles (e.g., vehicles that forego reliance on human intervention in limited situations such as Level 3 ADS-operated vehicles) and / or the like. In one embodiment, autonomous system 202 includes operational or tactical functionality required to operate vehicle 200 in on-road traffic and perform part or all of Dynamic Driving Task (DDT) on a sustained basis. In another embodiment, autonomous system 202 includes an Advanced Driver Assistance System (ADAS) that includes driver support features. Autonomous system 202 supports various levels of driving automation, ranging from no driving automation (e.g., Level 0) to full driving automation (e.g., Level 5). For a detailed description of fully autonomous vehicles and highly autonomous vehicles, reference may be made to SAE International's standard J3016: Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems, which is incorporated by reference in its entirety. In some embodiments, vehicle 200 is associated with an autonomous fleet manager and / or a ridesharing company.

[0040] Autonomous system 202 includes a sensor suite that includes one or more devices such as cameras 202a, LiDAR sensors 202b, radar sensors 202c, and microphones 202d. In some embodiments, autonomous system 202 can include more or fewer devices and / or different devices (e.g., ultrasonic sensors, inertial sensors, GPS receivers (discussed below), odometry sensors that generate data associated with an indication of a distance that vehicle 200 has traveled, and / or the like). In some embodiments, autonomous system 202 uses the one or more devices included in autonomous system 202 to generate data associated with environment 100, described herein. The data generated by the one or more devices of autonomous system 202 can be used by one ormore systems described herein to observe the environment (e.g., environment 100) in which vehicle 200 is located. In some embodiments, autonomous system 202 includes communication device 202e, autonomous vehicle compute 202f, drive-by-wire (DBW) system 202h, and safety controller 202g.

[0041] Cameras 202a include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Cameras 202a include at least one camera (e.g., a digital camera using a light sensor such as a Charge-Coupled Device (CCD), a thermal camera, an infrared (IR) camera, an event camera, and / or the like) to capture images including physical objects (e.g., cars, buses, curbs, people, and / or the like). In some embodiments, camera 202a generates camera data as output. In some examples, camera 202a generates camera data that includes image data associated with an image. In this example, the image data may specify at least one parameter (e.g., image characteristics such as exposure, brightness, etc., an image timestamp, and / or the like) corresponding to the image. In such an example, the image may be in a format (e.g., RAW, JPEG, PNG, and / or the like). In some embodiments, camera 202a includes a plurality of independent cameras configured on (e.g., positioned on) a vehicle to capture images for the purpose of stereopsis (stereo vision). In some examples, camera 202a includes a plurality of cameras that generate image data and transmit the image data to autonomous vehicle compute 202f and / or a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 ). In such an example, autonomous vehicle compute 202f determines depth to one or more objects in a field of view of at least two cameras of the plurality of cameras based on the image data from the at least two cameras. In some embodiments, cameras 202a is configured to capture images of objects within a distance from cameras 202a (e.g., up to 100 meters, up to a kilometer, and / or the like). Accordingly, cameras 202a include features such as sensors and lenses that are optimized for perceiving objects that are at one or more distances from cameras 202a.

[0042] In an embodiment, camera 202a includes at least one camera configured to capture one or more images associated with one or more traffic lights, street signs and / orother physical objects that provide visual navigation information. In some embodiments, camera 202a generates traffic light data associated with one or more images. In some examples, camera 202a generates TLD (Traffic Light Detection) data associated with one or more images that include a format (e.g., RAW, JPEG, PNG, and / or the like). In some embodiments, camera 202a that generates TLD data differs from other systems described herein incorporating cameras in that camera 202a can include one or more cameras with a wide field of view (e.g., a wide-angle lens, a fish-eye lens, a lens having a viewing angle of approximately 120 degrees or more, and / or the like) to generate images about as many physical objects as possible.

[0043] Light Detection and Ranging (LiDAR) sensors 202b include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). LiDAR sensors 202b include a system configured to transmit light from a light emitter (e.g., a laser transmitter). Light emitted by LiDAR sensors 202b include light (e.g., infrared light and / or the like) that is outside of the visible spectrum. In some embodiments, during operation, light emitted by LiDAR sensors 202b encounters a physical object (e.g., a vehicle) and is reflected back to LiDAR sensors 202b. In some embodiments, the light emitted by LiDAR sensors 202b does not penetrate the physical objects that the light encounters. LiDAR sensors 202b also include at least one light detector which detects the light that was emitted from the light emitter after the light encounters a physical object. In some embodiments, at least one data processing system associated with LiDAR sensors 202b generates an image (e.g., a point cloud, a combined point cloud, and / or the like) representing the objects included in a field of view of LiDAR sensors 202b. In some examples, the at least one data processing system associated with LiDAR sensor 202b generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and / or the like. In such an example, the image is used to determine the boundaries of physical objects in the field of view of LiDAR sensors 202b.

[0044] Radio Detection and Ranging (radar) sensors 202c include at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as orsimilar to bus 302 of FIG. 3). Radar sensors 202c include a system configured to transmit radio waves (either pulsed or continuously). The radio waves transmitted by radar sensors 202c include radio waves that are within a predetermined spectrum. In some embodiments, during operation, radio waves transmitted by radar sensors 202c encounter a physical object and are reflected back to radar sensors 202c. In some embodiments, the radio waves transmitted by radar sensors 202c are not reflected by some objects. In some embodiments, at least one data processing system associated with radar sensors 202c generates signals representing the objects included in a field of view of radar sensors 202c. For example, the at least one data processing system associated with radar sensor 202c generates an image that represents the boundaries of a physical object, the surfaces (e.g., the topology of the surfaces) of the physical object, and / or the like. In some examples, the image is used to determine the boundaries of physical objects in the field of view of radar sensors 202c.

[0045] Microphones 202d includes at least one device configured to be in communication with communication device 202e, autonomous vehicle compute 202f, and / or safety controller 202g via a bus (e.g., a bus that is the same as or similar to bus 302 of FIG. 3). Microphones 202d include one or more microphones (e.g., array microphones, external microphones, and / or the like) that capture audio signals and generate data associated with (e.g., representing) the audio signals. In some examples, microphones 202d include transducer devices and / or like devices. In some embodiments, one or more systems described herein can receive the data generated by microphones 202d and determine a position of an object relative to vehicle 200 (e.g., a distance and / or the like) based on the audio signals associated with the data.

[0046] Communication device 202e includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, autonomous vehicle compute 202f, safety controller 202g, and / or DBW (Drive-By-Wire) system 202h. For example, communication device 202e may include a device that is the same as or similar to communication interface 314 of FIG. 3. In some embodiments, communication device 202e includes a vehicle-to-vehicle (V2V) communication device (e.g., a device that enables wireless communication of data between vehicles).

[0047] Autonomous vehicle compute 202f include at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, safety controller 202g, and / or DBW system 202h. In some examples, autonomous vehicle compute 202f includes a device such as a client device, a mobile device (e.g., a cellular telephone, a tablet, and / or the like), a server (e.g., a computing device including one or more central processing units, graphical processing units, and / or the like), and / or the like. In some embodiments, autonomous vehicle compute 202f is the same as or similar to autonomous vehicle compute 400, described herein. Additionally, or alternatively, in some embodiments autonomous vehicle compute 202f is configured to be in communication with an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114 of FIG. 1 ), a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 ), a V2I device (e.g., a V2I device that is the same as or similar to V2I device 110 of FIG. 1 ), and / or a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ).

[0048] Safety controller 202g includes at least one device configured to be in communication with cameras 202a, LiDAR sensors 202b, radar sensors 202c, microphones 202d, communication device 202e, autonomous vehicle computer 202f, and / or DBW system 202h. In some examples, safety controller 202g includes one or more controllers (electrical controllers, electromechanical controllers, and / or the like) that are configured to generate and / or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertrain control system 204, steering control system 206, brake system 208, and / or the like). In some embodiments, safety controller 202g is configured to generate control signals that take precedence over (e.g., overrides) control signals generated and / or transmitted by autonomous vehicle compute 202f.

[0049] DBW system 202h includes at least one device configured to be in communication with communication device 202e and / or autonomous vehicle compute 202f. In some examples, DBW system 202h includes one or more controllers (e.g., electrical controllers, electromechanical controllers, and / or the like) that are configured to generate and / or transmit control signals to operate one or more devices of vehicle 200 (e.g., powertraincontrol system 204, steering control system 206, brake system 208, and / or the like). Additionally, or alternatively, the one or more controllers of DBW system 202h are configured to generate and / or transmit control signals to operate at least one different device (e.g., a turn signal, headlights, door locks, windshield wipers, and / or the like) of vehicle 200.

[0050] Powertrain control system 204 includes at least one device configured to be in communication with DBW system 202h. In some examples, powertrain control system 204 includes at least one controller, actuator, and / or the like. In some embodiments, powertrain control system 204 receives control signals from DBW system 202h and powertrain control system 204 causes vehicle 200 to make longitudinal vehicle motion, such as start moving forward, stop moving forward, start moving backward, stop moving backward, accelerate in a direction, decelerate in a direction or to make lateral vehicle motion such as performing a left turn, performing a right turn, and / or the like. In an example, powertrain control system 204 causes the energy (e.g., fuel, electricity, and / or the like) provided to a motor of the vehicle to increase, remain the same, or decrease, thereby causing at least one wheel of vehicle 200 to rotate or not rotate.

[0051] Steering control system 206 includes at least one device configured to rotate one or more wheels of vehicle 200. In some examples, steering control system 206 includes at least one controller, actuator, and / or the like. In some embodiments, steering control system 206 causes the front two wheels and / or the rear two wheels of vehicle 200 to rotate to the left or right to cause vehicle 200 to turn to the left or right. In other words, steering control system 206 causes activities necessary for the regulation of the y-axis component of vehicle motion.

[0052] Brake system 208 includes at least one device configured to actuate one or more brakes to cause vehicle 200 to reduce speed and / or remain stationary. In some examples, brake system 208 includes at least one controller and / or actuator that is configured to cause one or more calipers associated with one or more wheels of vehicle 200 to close on a corresponding rotor of vehicle 200. Additionally, or alternatively, in some examples brake system 208 includes an automatic emergency braking (AEB) system, a regenerative braking system, and / or the like.

[0053] In some embodiments, vehicle 200 includes at least one platform sensor (not explicitly illustrated) that measures or infers properties of a state or a condition of vehicle 200. In some examples, vehicle 200 includes platform sensors such as a global positioning system (GPS) receiver, an inertial measurement unit (IMU), a wheel speed sensor, a wheel brake pressure sensor, a wheel torque sensor, an engine torque sensor, a steering angle sensor, and / or the like. Although brake system 208 is illustrated to be located in the near side of vehicle 200 in FIG. 2, brake system 208 may be located anywhere in vehicle 200.

[0054] Referring now to FIG. 3, illustrated is a schematic diagram of a device 300. As illustrated, device 300 includes processor 304, memory 306, storage component 308, input interface 310, output interface 312, communication interface 314, and bus 302. In some embodiments, device 300 corresponds to at least one device of vehicles 102 (e.g., at least one device of a system of vehicles 102) and / or vehicle 200, and / or one or more devices of network 112 (e.g., one or more devices of a system of network 112). In some embodiments, one or more devices of vehicles 102 and / or 200 (e.g. , one or more devices of a system of vehicles 102 and / or 200, such as the autonomous system 202), remote AV system 114, fleet management system 116, V2I system 118, and / or one or more devices of network 112 (e.g., one or more devices of a system of network 112) include at least one device 300 and / or at least one component of device 300.

[0055] As shown in FIG. 3, device 300 includes bus 302, processor 304, memory 306, storage component 308, input interface 310, output interface 312, and communication interface 314.

[0056] Bus 302 includes a component that permits communication among the components of device 300. In some cases, processor 304 includes a processor (e.g., a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), and / or the like), a microphone, a digital signal processor (DSP), and / or any processing component (e.g., a field-programmable gate array (FPGA), an application specific integrated circuit (ASIC), and / or the like) that can be programmed to perform at least one function. Memory 306 includes random access memory (RAM), readonly memory (ROM), and / or another type of dynamic and / or static storage device (e.g.,flash memory, magnetic memory, optical memory, and / or the like) that stores data and / or instructions for use by processor 304.

[0057] Storage component 308 stores data and / or software related to the operation and use of device 300. In some examples, storage component 308 includes a hard disk (e.g., a magnetic disk, an optical disk, a magneto-optic disk, a solid state disk, and / or the like), a compact disc (CD), a digital versatile disc (DVD), a floppy disk, a cartridge, a magnetic tape, a CD-ROM, RAM, PROM, EPROM, FLASH-EPROM, NV-RAM, and / or another type of computer readable medium, along with a corresponding drive.

[0058] Input interface 310 includes a component that permits device 300 to receive information, such as via user input (e.g., a touchscreen display, a keyboard, a keypad, a mouse, a button, a switch, a microphone, a camera, and / or the like). Additionally or alternatively, in some embodiments input interface 310 includes a sensor that senses information (e.g., a global positioning system (GPS) receiver, an accelerometer, a gyroscope, an actuator, and / or the like). Output interface 312 includes a component that provides output information from device 300 (e.g., a display, a speaker, one or more lightemitting diodes (LEDs), and / or the like).

[0059] In some embodiments, communication interface 314 includes a transceiver-like component (e.g., a transceiver, a separate receiver and transmitter, and / or the like) that permits device 300 to communicate with other devices via a wired connection, a wireless connection, or a combination of wired and wireless connections. In some examples, communication interface 314 permits device 300 to receive information from another device and / or provide information to another device. In some examples, communication interface 314 includes an Ethernet interface, an optical interface, a coaxial interface, an infrared interface, a radio frequency (RF) interface, a universal serial bus (USB) interface, a Wi-Fi® interface, a cellular network interface, and / or the like.

[0060] In some embodiments, device 300 performs one or more processes described herein. Device 300 performs these processes based on processor 304 executing software instructions stored by a computer-readable medium, such as memory 305 and / or storage component 308. A computer-readable medium (e.g., a non-transitory computer readable medium) is defined herein as a non-transitory memory device. A non-transitory memorydevice includes memory space located inside a single physical storage device or memory space spread across multiple physical storage devices.

[0061] In some embodiments, software instructions are read into memory 306 and / or storage component 308 from another computer-readable medium or from another device via communication interface 31 . When executed, software instructions stored in memory 306 and / or storage component 308 cause processor 304 to perform one or more processes described herein. Additionally or alternatively, hardwired circuitry is used in place of or in combination with software instructions to perform one or more processes described herein. Thus, embodiments described herein are not limited to any specific combination of hardware circuitry and software unless explicitly stated otherwise.

[0062] Memory 306 and / or storage component 308 includes data storage or at least one data structure (e.g., a database and / or the like). Device 300 is capable of receiving information from, storing information in, communicating information to, or searching information stored in the data storage or the at least one data structure in memory 306 or storage component 308. In some examples, the information includes network data, input data, output data, or any combination thereof.

[0063] In some embodiments, device 300 is configured to execute software instructions that are either stored in memory 306 and / or in the memory of another device (e.g., another device that is the same as or similar to device 300). As used herein, the term “module” refers to at least one instruction stored in memory 306 and / or in the memory of another device that, when executed by processor 304 and / or by a processor of another device (e.g., another device that is the same as or similar to device 300) cause device 300 (e.g., at least one component of device 300) to perform one or more processes described herein. In some embodiments, a module is implemented in software, firmware, hardware, and / or the like.

[0064] The number and arrangement of components illustrated in FIG. 3 are provided as an example. In some embodiments, device 300 can include additional components, fewer components, different components, or differently arranged components than those illustrated in FIG. 3. Additionally or alternatively, a set of components (e.g., one or more components) of device 300 can perform one or more functions described as being performed by another component or another set of components of device 300.

[0065] Referring now to FIG. 4, illustrated is an example block diagram of an autonomous vehicle compute 400 (sometimes referred to as an “AV stack”). As illustrated, autonomous vehicle compute 400 includes perception system 402 (sometimes referred to as a perception module), planning system 404 (sometimes referred to as a planning module), localization system 406 (sometimes referred to as a localization module), control system 408 (sometimes referred to as a control module), and database 410. In some embodiments, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included and / or implemented in an autonomous navigation system of a vehicle (e.g., autonomous vehicle compute 202f of vehicle 200). Additionally, or alternatively, in some embodiments, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems (e.g., one or more systems that are the same as or similar to autonomous vehicle compute 400 and / or the like). In some examples, perception system 402, planning system 404, localization system 406, control system 408, and database 410 are included in one or more standalone systems that are located in a vehicle and / or at least one remote system as described herein. In some embodiments, any and / or all of the systems included in autonomous vehicle compute 400 are implemented in software (e.g., in software instructions stored in memory), computer hardware (e.g., by microprocessors, microcontrollers, application-specific integrated circuits (ASICs), Field Programmable Gate Arrays (FPGAs), and / or the like), or combinations of computer software and computer hardware. It will also be understood that, in some embodiments, autonomous vehicle compute 400 is configured to be in communication with a remote system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system 116 that is the same as or similar to fleet management system 116, a V2I system that is the same as or similar to V2I system 118, and / or the like).

[0066] In some embodiments, perception system 402 receives data associated with at least one physical object (e.g., data that is used by perception system 402 to detect the at least one physical object) in an environment and classifies the at least one physical object. In some examples, perception system 402 receives image data captured by at least one camera (e.g., cameras 202a), the image associated with (e.g., representing)one or more physical objects within a field of view of the at least one camera. In such an example, perception system 402 classifies at least one physical object based on one or more groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians, and / or the like). In some embodiments, perception system 402 transmits data associated with the classification of the physical objects to planning system 404 based on perception system 402 classifying the physical objects.

[0067] In some embodiments, planning system 404 receives data associated with a destination and generates data associated with at least one route (e.g., routes 106) along which a vehicle (e.g., vehicles 102) can travel along toward a destination. In some embodiments, planning system 404 periodically or continuously receives data from perception system 402 (e.g., data associated with the classification of physical objects, described above) and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by perception system 402. In other words, planning system 404 may perform tactical function-related tasks that are required to operate vehicle 102 in on-road traffic. Tactical efforts involve maneuvering the vehicle in traffic during a trip, including but not limited to deciding whether and when to overtake another vehicle, change lanes, or selecting an appropriate speed, acceleration, deceleration, etc. In some embodiments, planning system 404 receives data associated with an updated position of a vehicle (e.g., vehicles 102) from localization system 406 and planning system 404 updates the at least one trajectory or generates at least one different trajectory based on the data generated by localization system 406.

[0068] In some embodiments, localization system 406 receives data associated with (e.g., representing) a location of a vehicle (e.g., vehicles 102) in an area. In some examples, localization system 406 receives LiDAR data associated with at least one point cloud generated by at least one LiDAR sensor (e.g., LiDAR sensors 202b). In certain examples, localization system 406 receives data associated with at least one point cloud from multiple LiDAR sensors and localization system 406 generates a combined point cloud based on each of the point clouds. In these examples, localization system 406 compares the at least one point cloud or the combined point cloud to two-dimensional (2D) and / or a three-dimensional (3D) map of the area stored in database 410. Localization system406 then determines the position of the vehicle in the area based on localization system 406 comparing the at least one point cloud or the combined point cloud to the map. In some embodiments, the map includes a combined point cloud of the area generated prior to navigation of the vehicle. In some embodiments, maps include, without limitation, high- precision maps of the roadway geometric properties, maps describing road network connectivity properties, maps describing roadway physical properties (such as traffic speed, traffic volume, the number of vehicular and cyclist traffic lanes, lane width, lane traffic directions, or lane marker types and locations, or combinations thereof), and maps describing the spatial locations of road features such as crosswalks, traffic signs or other travel signals of various types. In some embodiments, the map is generated in real-time based on the data received by the perception system.

[0069] In another example, localization system 406 receives Global Navigation Satellite System (GNSS) data generated by a global positioning system (GPS) receiver. In some examples, localization system 406 receives GNSS data associated with the location of the vehicle in the area and localization system 406 determines a latitude and longitude of the vehicle in the area. In such an example, localization system 406 determines the position of the vehicle in the area based on the latitude and longitude of the vehicle. In some embodiments, localization system 406 generates data associated with the position of the vehicle. In some examples, localization system 406 generates data associated with the position of the vehicle based on localization system 406 determining the position of the vehicle. In such an example, the data associated with the position of the vehicle includes data associated with one or more semantic properties corresponding to the position of the vehicle.

[0070] In some embodiments, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle. In some examples, control system 408 receives data associated with at least one trajectory from planning system 404 and control system 408 controls operation of the vehicle by generating and transmitting control signals to cause a powertrain control system (e.g., DBW system 202h, powertrain control system 204, and / or the like), a steering control system (e.g., steering control system 206), and / or a brake system (e.g., brake system 208) to operate. For example, control system 408 is configured to performoperational functions such as a lateral vehicle motion control or a longitudinal vehicle motion control. The lateral vehicle motion control causes activities necessary for the regulation of the y-axis component of vehicle motion. The longitudinal vehicle motion control causes activities necessary for the regulation of the x-axis component of vehicle motion. In an example, where a trajectory includes a left turn, control system 408 transmits a control signal to cause steering control system 206 to adjust a steering angle of vehicle 200, thereby causing vehicle 200 to turn left. Additionally, or alternatively, control system 408 generates and transmits control signals to cause other devices (e.g., headlights, turn signal, door locks, windshield wipers, and / or the like) of vehicle 200 to change states.

[0071] In some embodiments, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model (e.g., at least one multilayer perceptron (MLP), at least one convolutional neural network (CNN), at least one recurrent neural network (RNN), at least one autoencoder, at least one transformer, and / or the like). In some examples, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model alone or in combination with one or more of the above-noted systems. In some examples, perception system 402, planning system 404, localization system 406, and / or control system 408 implement at least one machine learning model as part of a pipeline (e.g., a pipeline for identifying one or more objects located in an environment and / or the like). An example of an implementation of a machine learning model is included below with respect to FIGS. 6A-6C.

[0072] Database 410 stores data that is transmitted to, received from, and / or updated by perception system 402, planning system 404, localization system 406 and / or control system 408. In some examples, database 410 includes a storage component (e.g., a storage component that is the same as or similar to storage component 308 of FIG. 3) that stores data and / or software related to the operation and uses at least one system of autonomous vehicle compute 400. In some embodiments, database 410 stores data associated with 2D and / or 3D maps of at least one area. In some examples, database 410 stores data associated with 2D and / or 3D maps of a portion of a city, multiple portions of multiple cities, multiple cities, a county, a state, a State (e.g., a country), and / or thelike). In such an example, a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and / or vehicle 200) can drive along one or more drivable regions (e.g., single-lane roads, multi-lane roads, highways, back roads, off road trails, and / or the like) and cause at least one LiDAR sensor (e.g., a LiDAR sensor that is the same as or similar to LiDAR sensors 202b) to generate data associated with an image representing the objects included in a field of view of the at least one LiDAR sensor.

[0073] In some embodiments, database 410 can be implemented across a plurality of devices. In some examples, database 410 is included in a vehicle (e.g., a vehicle that is the same as or similar to vehicles 102 and / or vehicle 200), an autonomous vehicle system (e.g., an autonomous vehicle system that is the same as or similar to remote AV system 114, a fleet management system (e.g., a fleet management system that is the same as or similar to fleet management system 116 of FIG. 1 , a V2I system (e.g., a V2I system that is the same as or similar to V2I system 118 of FIG. 1 ) and / or the like.

[0074] Example Color Filter Arrays

[0075] FIG. 5 shows aspects of an image sensor system 500. In some implementations, the image sensor system 500 is or is otherwise included in one or more of the cameras 202a (e.g., as described with reference to FIG. 2). In some implementations, the image sensor system is included in or is associated with the vehicle 200 of FIG. 2, the device 300 of FIG. 3, or the autonomous vehicle compute 400 of FIG. 4.

[0076] As shown in FIG. 5, the image sensor system 500 includes a photodiode array 502 and a color filter array 504 (e.g., to enable the photodiode array 502 to detect specific colors or wavelengths of light at particular spatial locations along the photodiode array). During an example operation, the image sensor system 500 receives light 550 from the environment 552 (e.g., light reflecting and / or scattering from an object 554 in the environment 552), directs the light 550 through the color filter array 504 and towards the photodiode array 502, and detects the filtered light that is incident on the photodiode array 502. Using the photodiode array 502, the image sensor system 500 generates electrical signals 556 representing one or more spatially resolved images based on the detected light. For example, one or more images can visually depict the object 554 and / or the environment 552.

[0077] In general, the photodiode array 502 includes several light sensitive photodiodes 508a-508n. Each of the photodiode 508a-508n receives light (e.g., light having been filtered by the color filter array 504), and generates electrical signals based on the received light. As an example, each of the photodiodes 508a-508n can be a light sensitive semiconductor diode (e.g., a PIN diode) that generates electrical current in response to an incident photon of light on a light sensitive region (e.g., on or near a depletion region of the PIN diode).

[0078] In general, the color filter array 504 includes one or more filter elements 506a-506n to filter the light 550 (e.g., by attenuating light having certain color(s) and / or wavelength(s), and / or transmitting light having certain color(s) and / or wavelength(s)).

[0079] In some implementations, at least some of the filter elements 506a-506n can be bandpass filters (e.g., filters that pass wavelengths of light within a particular range of wavelengths, or passband). As an example, at some of the filter elements 506a-506n are bandpass filters that are configured to pass light of a particular color (e.g., a particular wavelength or range of wavelengths of light within the passband), and attenuate or block other colors of light (e.g., wavelengths of light outside of the passband).

[0080] In some implementations, the color filter array 504 and / or the filter elements 506a- 506n can include one or more absorptive filters, interference filters, and / or dichroic filters. Further, the color filter array 504 and / or the filter elements 506a-506n can be constructed, at least in part, of optically transmissive materials, such as glass, plastic, colored dyes, etc.

[0081] In some implementations, the color filter array 504 includes filter elements 506a- 506n that selectively transmit different color(s) of light along different respective regions of the color filter array 504. For example, certain ones of the filter elements 506a-506n can be configured to transmit a first color of light (e.g., red), certain other ones of the filter elements 506a-506n can be configured to transmit a second color of light (e.g., green), certain other ones of the filter elements 506a-506n can be configured to transmit a third color of light (e.g., blue), and so forth. Accordingly, different colors of light are incident on different respective regions of the photodiode array 502. This can be beneficial, for example, in enabling the photodiode array 502 to detect specific colors of light at specificregions of the photodiode array 502 (e.g., to generate images having spatially resolved color information).

[0082] In some implementations, filter elements 506a-506n that are configured to transmit red light can transmit light having wavelengths in a range of 580nm to 800nm, and attenuate or block light having wavelengths outside of this range. In some implementations, filter elements 506a-506n that are configured to transmit green light can transmit light having wavelengths in a range of 480nm to 620nm, and attenuate or block light having wavelengths outside of this range. In some implementations, filter elements 506a-506n that are configured to transmit blue light can transmit light having wavelengths in a range of 380nm to 520nm, and attenuate or block light having wavelengths outside of this range.

[0083] Further, in some implementations, the color filter array 504 includes at least some optically clear elements. As an example, an optically clear element may not selectively attenuate any wavelengths of light and / or can transmit all (or substantially all) wavelengths of light. As another example, an optically clear element may pass all of the wavelength of light within a particular wide range (e.g., the range of visible light). As another example, an optically clear element may pass each of the colors of light that are passed by any one of the filter elements 506a-506n individually (e.g., red, green, blue, etc.).

[0084] In some implementations, optically clear elements themselves are configured to transmit light having wavelengths in a range of 380nm to the Infrared light wave (~ 1 mm).

[0085] The optically clear elements can be beneficial, for example, in enabling the photodiode array 502 to detect light with a greater degree of sensitivity at specific regions of the photodiode array 502 (e.g., by not attenuating the light that is transmitted to the photodiode array 502 along those regions). In some implementations, one or more optically clear elements can be arranged with one or more filter elements 506a-506n in a pattern (e.g., a repeating pattern, such as a grid, matrix, or mosaic). In some implementations, the pattern is symmetric about at least one axis. Additionally, in some embodiments the optically clear elements are arranged with one or more filter elements 506a-506n in a pattern corresponding to at least one traffic signal, wherein the patternenables generation of images including the at least one traffic signal having spatially resolved color information.

[0086] FIG. 6 shows an example arrangement of the photodiode array 502 and the color filter array 504, as seen from a direction parallel to an optical axis of the image sensor system 500 (e.g., an axis extending from the object 554 to the photodiode array 502, with reference to FIG. 5). In this example, the color filter array 504 is depicted as overlaying the photodiode array 502, with the color filter array 504 shown in shading and the photodiode array 502 shown in outlines.

[0087] In this example, the photodiode array 502 includes several units arranged in a spatially repeating planar pattern (e.g., a grid, matrix, or mosaic). Each unit includes a pair of photodiodes 602a and 602b, where the photodiode 602a is larger (and thus, more sensitive to light) than the photodiode 602b. As an example, each of the photodiodes 602a can have a larger area (e.g., planar area) than each of the photodiodes 602b.

[0088] Although FIG. 6 shows an arrangement having 4 x 4 units, in practice, a photodiode array 502 be configured such that it has any number of repeating units in each dimension (e.g., an arrangement having N x M units).

[0089] For each pair of photodiodes 602a and 602b, the image sensor system 500 combines outputs from the photodiodes differently (e.g., according to different weightings) to generate outputs representing different dynamic ranges of light. In some implementations, this may be referred to as a “split-pixel” configuration (e.g., in which each pair of photodiodes 602a and 602b represents a single pixel in an image).

[0090] For example, each of the photodiodes 602a and 602b can output a respective signal representing the intensity of light detected by that photodiode. The image sensor system 500 can apply different gains or weights to these signals, and combine the signals to form a composite signal. The gains or weights can be modified to obtain a composite signal representing different dynamic ranges of light.

[0091] As a simplified example, FIG. 7 shows (i) the pixel response of the smaller photodiode 602b when a high gain is applied to the output signal ( 702c), (ii) the pixel response of the smaller photodiode 602b when a low gain is applied to the output signal ( 702d), (iii) the pixel response of the larger photodiode 602a when a high gain is applied to the output signal ( 702a), (ii) the pixel response of the larger photodiode 602a when alow gain is applied to the output signal ( 702b). Each of these signal responses 702a- 702d corresponds to a respective dynamic range 704a-704d. The output 704f is the combined high dynamic range (HDR) output corresponding to the pixel responses 702a to 702d, and can be provided as the final output signal for a pixel (e.g., for the pair of photodiodes 602a and 602b). The image sensor system 500 can generate different combinations of these weighted signals to obtain information regarding a wider dynamic range 704e. In some implementations, this technique can be performed by increase the effective bit depth of the signals output by the image sensor system 500 (e.g., from a 12- bit signal range output to a 24-bit signal range). In some implementations, this technique is performed to generate high dynamic range (HDR) images.

[0092] As shown in FIG. 6, the color filter array 504 also includes several units arranged in a spatially repeating planar pattern (e.g., a grid, matrix, or mosaic).

[0093] Each unit of the color filter array 502 is configured to filter light from the environment, and direct the filtered light to a respective unit of the photodiode array (e.g., such that the unit of the photodiode array detects light having a particular color or colors).

[0094] Further, each unit includes a pair of optical elements 604a and 604b, where the first optical element 604a is larger than the other optical element 604b. As an example, each of the optical elements 604a can have a larger area (e.g., planar area) than each of the optical elements 604b.

[0095] For each unit, the first optical element 604a is an optically clear element (e.g., configured to pass substantially all wavelengths of light), and the second optical element 604b is a color filter element (e.g., configured to pass a particular color of light, such as red, green, or blue). Although FIG. 6 shows an arrangement having 4 x 4 units, in practice, a color filter array 504 be configured such that it has any number of repeating units in each dimension (e.g., an arrangement having N x M units).

[0096] In general, each of repeating units of the color filter array 504 is aligned with a corresponding unit of the photodiode array 502, such that the unit of the color filter array 504 selectively filters light and provides the light to the corresponding unit of the photodiode array 502.

[0097] For example, each of the optical elements 604a is aligned with a corresponding one of the photodiodes 602a. The optical element 604a receives light (e.g., from theenvironment), and transmits at least a portion of the light to the corresponding photodiode 602a. As the optical element 604a is an optically clear element, the light that is provided to the photodiode 602a has not been substantially filtered and / or attenuated.

[0098] As another example, each of the optical elements 604b is aligned with a corresponding one of the photodiodes 602b. The optical element 604b receives light (e.g., from the environment), filters the light, and transmits at least a portion of the filter light to the corresponding photodiode 602b. As the optical element 604b is color filter element, the light that is provided to the photodiode 602b has been filtered to include certain colors or wavelengths of light, and while other colors or wavelengths of light are attenuated or blocked.

[0099] In some implementations, the units of the color filter array 504 are arranged according to a particular color pattern. As an example, in some implementations, the units of the color filter array are arranged in groups of 2x2 units, where:(i) two of the smaller optical elements 604b in the group are green filters,(ii) one of the smaller optical elements 604b in the group is a red filter,(iii) one of the smaller optical elements 604b in the group is a blue filter, and(iv) each of the four larger optical elements 604a in the group is an optically clear element (e.g. as shown in FIG. 6).

[0100] Further, for each group, the green filters can be diagonal from one another, and the red and blue filters can also be diagonal from one another. In some implementations, this arrangement may be referred to as a monochrome and RGGB (e.g., Bayer) color filter arrangement.

[0101] Each of the groups represents a single pixel in an image. In some implementations, an image sensor system 500 ascertains the intensity and / or color of the pixel by interpolating the signals output by each of the photodiodes 602a and 602b in the group. For example, color interpolation is performed to reconstruct a color image by sampling color information from neighboring pixels having different colors.

[0102] In some implementations, a monochrome and RGGB arrangement may be particularly suitable for use in vehicle image sensors. For example, compared to other types of filter arrangements (e.g., RCCG, RYYCy), a monochrome and RGGB arrangement may enable an image sensor to generate images according to a high degreeof color accuracy. Accordingly, colors can be better differentiated from one another in the image. This color filter array can be beneficial in the context of an autonomous vehicle, as it enables the autonomous vehicles to differentiate between different colors of light, which may have different meanings and may lead to different operational outcomes for the autonomous vehicle. For example, this color filter array enables an autonomous vehicle to better differentiate between red, yellow, and green lights in a traffic light, such that it can traverse an intersection more safely. Nevertheless, in some implementations, a color filter array can have a RCCG arrangement, a RYYCy arrangement, or any other color filter arrangement.

[0103] In some implementations, one or more of the photodiodes 602a can have an octagonal shape, and one or more of the photodiodes 602b can have a quadrilateral shape (e.g., with respect to a plane). In some implementations, one or more of the optical elements 604a can have an octagonal shape, and one or more of the optical elements 604b can have a quadrilateral shape (e.g., with respect to a plane).

[0104] In some implementations, each of the photodiodes 602a and the optical elements 604a can have a similar size and shape (e.g., with respect to a plane). In some implementations, each of the photodiodes 602b and the optical elements 604b can have a similar size and shape (e.g., with respect to a plane).

[0105] The color filter arrays described herein enable an image sensor to detect light according to a higher sensitivity (e.g. , compared to an image sensor without the color filter arrays described herein), while maintaining the ability to distinguish different colors of light. The color filter arrays described herein enable an image sensor to detect light according to a higher spatial resolution and according to a higher degree of color accuracy (e.g., compared to an image sensor without the color filter arrays described herein).

[0106] For example, in the color filter array 504, the clear optical elements 604a allow substantially all light to pass from the environment onto the corresponding larger photodiodes 602a of the photodiode array 502. This enables the image sensor system 500 to detect light monochromatically according to a higher degree of sensitivity (e.g., compared to an image sensor that filters light according to particular colors and / or wavelengths before directing the filtered light to the larger photodiodes 602a, which mayattenuate the intensity of that light). This may be particularly suitable for detecting features of the environment in low light conditions.

[0107] Further, in the color filter array 504, the color filters optical elements 604b pass light having specific colors from the environment onto the corresponding smaller photodiodes 602b of the photodiode array 502. This enables the image sensor system 500 to distinguish between different colors of light, particularly high intensity light that can be more readily detected by the smaller photodiodes 602b of the photodiode array 502.

[0108] At least some of the implementations described herein are particularly beneficial for use in vehicular image sensors (e.g., the cameras 202a described with reference to FIG. 2). For example, implementations of the color filter array 504 described herein enable a vehicular image sensor to detect objects in the environment according to a high degree of sensitivity and according to a high resolution, while maintaining the ability to discern between different colors of light. In particular, implementations of the color filter array 504 may be suitable for distinguishing between yellow and red light emitted by a traffic light in both low light and day time conditions. Accordingly, a vehicle (e.g., an autonomous vehicle) can sense its environment more accurately and operate in a safer manner in a various operating conditions.

[0109] In the foregoing description, aspects and embodiments of the present disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the invention, and what is intended by the applicants to be the scope of the invention, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. Any definitions expressly set forth herein for terms contained in such claims shall govern the meaning of such terms as used in the claims. In addition, when we use the term “further comprising,” in the foregoing description or following claims, what follows this phrase can be an additional step or entity, or a sub-step / sub-entity of a previously- recited step or entity.

Claims

WHAT IS CLAIMED IS:1 . A method comprising: a color filter array comprising a plurality of units arranged according to a spatially repeating pattern, wherein each of the units comprises: a color filter element having a first area, and an optically clear element having a second area, wherein the first planar is less than the second area, wherein the color filter array is configured to receive light from an environment of the apparatus, filter at least a portion of the light using the units, and transmit at least a portion of the filtered light to an image sensor.

2. The apparatus of claim 1 , wherein for each of the units, the color filter element is configured to filter incident light according to a respective color.

3. The apparatus of claim 1 , wherein for each of the units, the color filter element is configured to filter incident light according to one of: a red color, a blue color, or a green color.

4. The apparatus of claim 1 , wherein for each of the units, the color filter element is adjacent to the optically clear element.

5. The apparatus of claim 1 , wherein according to the spatially repeating pattern, the units of the color filter array are arranged according to a plurality groups having a width of two units and a height of two units.

6. The apparatus of claim 1 , wherein each of the groups comprises: two color filter elements configured to filter light according to a green color, one color filter element configured to filter light according to a blue color, andone color filter element configured to filter light according to a red color.

7. The apparatus of claim 1 , wherein at least some of the color filter elements have a quadrilateral shape.

8. The apparatus of claim 1 , wherein at least some of the optically clear elements have an octagonal shape.

9. The apparatus of claim 1 , further comprising the image sensor.

10. The apparatus of claim 9, wherein the image sensor comprises: a photodiode array comprising a plurality of second units arranged according to a second spatially repeating pattern, wherein each of the second units comprises: a first photodiode having a third area, and a second photodiode having a fourth area, wherein the third area is less than the fourth area.11 . The apparatus of claim 10, wherein each of the color filter elements is configured to filter incident light according to a respective color, and transmit at least a portion of the filtered light to a respective one of the first photodiodes.

12. The apparatus of claim 11 , wherein each of the optically clear elements is configured to receive incident light, and transmit at least a portion of the light to a respective one of the second photodiodes.

13. The apparatus of claim 10, wherein each of the color filter elements is aligned with a respective one of the first photodiodes, and wherein each of the optically clear elements is aligned with a respective one of the second photodiodes.

14. The apparatus of claim 10, wherein for each of the second units, the image sensor is configured to: obtain a first light measurement using the first photodiode, obtain a second light measurement using the second photodiode, and generate an output value based on a combination of the first light measurement and the second light measurement.

15. The apparatus of claim 1 , wherein the color filter array further comprises an optical substrate, and wherein each of the color filter elements and each of the optically clear elements are arranged on the optical substrate.

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