Lidar system and method

Abstract

To provide a system and method using LIDAR technology to detect an object in a surrounding environment.SOLUTION: A processor controls at least one light source so as to enable light flux to vary over a scan of a field of view using light from the at least one light source, controls at least one light deflector to deflect light from the at least one light source to scan the field of view, uses first detected reflection associated with a scan of a first portion of the field of view to determine the existence of a first object in the first portion at a first distance, determines the absence of an object in a second portion of the field of view at the first distance, after the detection of the first reflections and the determination of the absence of an object in the second portion, alters a light source parameter such that more light is projected toward the second portion of the field of view than is projected toward the first portion of the field of view, and uses second detected reflection in the second portion of the field of view to determine the existence of a second object at a second distance greater than the first distance.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS)

[0001] This application is a continuation of U.S. Provisional Patent Application No. 62 / 396, filed September 20, 2016. 858, U.S. Provisional Patent Application No. 62 / 396,863 filed September 20, 2016, U.S. Provisional Patent Application No. 62 / 396,864 filed September 20, 2016, U.S. Provisional Patent Application No. 62 / 397,379 filed September 21, 2016, U.S. Provisional Patent Application No. 62 / 405,928 filed October 9, 2016, U.S. Provisional Patent Application No. 62 / 412,294 filed October 25, 2016, U.S. Provisional Patent Application No. 62 / 414,740 filed October 30, 2016, U.S. Provisional Patent Application No. 62 / 414,740 filed November 7, 2016 This application claims the benefit of priority to U.S. Provisional Patent Application No. 62 / 418,298, U.S. Provisional Patent Application No. 62 / 422,602, filed November 16, 2016, U.S. Provisional Patent Application No. 62 / 425,089, filed November 22, 2016, U.S. Provisional Patent Application No. 62 / 441,574, filed January 3, 2017, U.S. Provisional Patent Application No. 62 / 441,581, filed January 3, 2017, U.S. Provisional Patent Application No. 62 / 441,583, filed January 3, 2017, and U.S. Provisional Patent Application No. 62 / 521,450, filed June 18, 2017. All of the foregoing applications are incorporated herein by reference in their entireties.

[0002]

[0002] The present disclosure relates generally to survey techniques for scanning surrounding environments, and more particularly to More particularly, the present invention relates to a system and method for detecting objects in a surrounding environment using LIDAR technology. [Background technology]

[0003]

[0003] With the advent of driver assistance systems and autonomous vehicles, automobiles are increasingly relying on drivers to navigate the vehicle. It has become necessary to equip vehicles with systems that can reliably detect and interpret their surroundings, including identifying obstacles, hazards, objects, and other physical parameters that may affect their operation. Many different technologies have been proposed for this purpose, including radar-, LIDAR-, and camera-based systems, operating independently or redundantly.

[0004]

[0004] One consideration with driver assistance systems and autonomous vehicles is the risk of collisions in rain, fog, darkness, and other conditions. The ability of a system to determine its surroundings in a variety of conditions, including darkness, bright light, and snow. Light detection and ranging (LIDAR, also known as LADAR) is an example of a technology that can perform well in a variety of conditions by measuring the distance to an object by shining light at the object and measuring the reflected pulse with a sensor. Lasers are an example of a light source that can be used in LIDAR systems. As with any sensing system, for LIDAR-based sensing systems to be fully adopted by the automotive industry, the system must provide reliable data that allows for the detection of distant objects. However, the maximum illumination power of LIDAR systems is currently limited by the need to make them eye-safe (i.e., to avoid damage to the human eye, which could occur if the projected light emissions are absorbed by the cornea and lens of the eye and cause thermal damage to the retina).

[0005] The disclosed systems and methods are directed to improving the visibility of LIDAR systems while complying with eye safety regulations. The objective is to improve the performance of Summary of the Invention [Problem to be solved by the invention]

[0006]

[0006] Embodiments according to the present disclosure provide systems and methods for detecting objects in a surrounding environment using LIDAR technology. [Means for solving the problem]

[0007] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The camera may include at least one processor configured to: control at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; control at least one light deflector to deflect light from the at least one light source to scan the field of view; use a first detected reflection associated with scanning a first portion of the field of view to determine the presence of a first object at a first distance within the first portion and the absence of an object at the first distance within a second portion of the field of view; detect the first reflection and, after determining the absence of an object in the second portion, modify light source parameters such that more light is projected toward the second portion of the field of view than is projected toward the first portion of the field of view; and use a second detected reflection in the second portion of the field of view to determine the presence of a second object at a second distance greater than the first distance.

[0008] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The sensor may include at least one processor configured to: control at least one light source to vary a light flux in scanning a field of view using light from the at least one light source; control the projection of at least a first light emission directed toward a first portion of the field of view to determine that an object is absent at a first distance within the first portion of the field of view; and, if it is determined that an object is absent within the first portion of the field of view based on the at least first light emission, control the projection of at least a second light emission directed toward the first portion of the field of view to enable detection of an object at a second distance in the first portion of the field of view that is greater than the first distance; and control the projection of at least a third light emission directed toward the first portion of the field of view to determine that an object is present in the first portion of the field of view at a third distance that is greater than the second distance.

[0009]

[0009] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The sensor may include at least one processor configured to: control at least one light source to vary a light flux in a scan of a field of view including a first portion and a second portion; receive a signal from at least one sensor for each pixel, the signal indicative of at least one of ambient light and a combination of light from the at least one light source reflected by objects in the field of view and noise associated with the at least one sensor; estimate noise in at least a portion of the signal associated with the first portion of the field of view; modify sensor sensitivity to reflections associated with the first portion of the field of view based on the estimate of noise in the first portion of the field of view; estimate noise in at least a portion of the signal associated with the second portion of the field of view; and modify sensor sensitivity to reflections associated with the second portion of the field of view based on the estimate of noise in the second portion of the field of view, wherein the modified sensor sensitivity to reflections associated with the second portion is different from the modified sensor sensitivity to reflections associated with the first portion.

[0010]

[0010] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The imaging device may include at least one processor configured to: control at least one light source to vary light intensity in scanning a field of view using light from the at least one light source; control at least one light deflector to deflect light from the at least one light source to scan the field of view; obtain an identification of at least one distinct region of interest within the field of view; and increase light allocation to the at least one distinct region of interest relative to other regions after a first scanning cycle so that the light intensity of at least one subsequent second scanning cycle at locations associated with the at least one distinct region of interest is higher than the light intensity of the first scanning cycle at locations associated with the at least one distinct region of interest.

[0011]

[0011] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. the at least one processor configured to: control at least one light source to vary a light flux in scanning a field of view using light from the at least one light source; control at least one optical deflector to deflect light from the at least one light source to scan the field of view; receive from the at least one sensor a reflection signal indicative of light reflected from an object in the field of view; determine whether an object is located within a threshold distance from the at least one optical deflector in an intermediate area of ​​the LIDAR system based on the reflection signal of the initial light emission, the threshold distance being related to a safety distance; if an object is not detected in the intermediate area, control the at least one light source to project additional light emissions toward the intermediate area, thereby enabling detection of objects farther away than the intermediate area; and if an object is detected in the intermediate area, regulate at least one of the at least one light source and the at least one optical deflector so that the accumulated energy density of light in the intermediate area does not exceed a maximum allowable exposure.

[0012]

[0012] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. the sensor may include at least one processor configured to: control light emission from a light source; scan a field of view by repeatedly moving at least one optical deflector disposed in an outbound path of the light source; instantaneously position the at least one optical deflector at a plurality of positions during a single scan cycle of the field of view; receive a reflection of a single light beam spot along a return path to a sensor via the at least one deflector while the at least one deflector is in a particular instantaneous position; receive from the sensor, for each beam spot, a signal associated with an image of each light beam spot; the sensor includes a plurality of detectors, each detector having a size smaller than the image of each light beam spot such that the image of each light beam spot is incident on the plurality of detectors for each beam spot; and determine at least two different range measurements associated with the image of the single light beam spot from the signals resulting from the incidence on the plurality of detectors.

[0013]

[0013] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The optical system may include at least one processor configured to: control the at least one deflector, while the at least one deflector is in a particular instantaneous position, to deflect light from a plurality of light sources along a plurality of outbound paths toward a plurality of regions forming a field of view; control the at least one deflector, while the at least one deflector is in the particular instantaneous position, such that light reflections from the field of view are received at at least one common area of ​​the at least one deflector, at least a portion of the light reflections of at least some of the plurality of light sources incident on and overlapping with one another in the at least one common area; and receive from each of a plurality of detectors at least one signal indicative of the light reflections from the at least one common area while the at least one deflector is in the particular instantaneous position.

[0014]

[0014] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The LIDAR system may include at least one processor configured to: access an optical budget stored in a memory, the optical budget being associated with at least one light source and defining an amount of light that can be emitted by the at least one light source within a predetermined time period; receive information indicative of a platform condition of the LIDAR system; and based on the received information, dynamically allocate the optical budget to a field of view of the LIDAR system based on at least two of a scan rate, a scan pattern, a scan angle, a spatial light distribution, and a temporal light distribution; and output a signal to control the at least one light source to vary a light flux in scanning the field of view in accordance with the dynamically allocated optical budget.

[0015]

[0015] For a LIDAR configured for use on a vehicle according to the disclosed embodiments, The vibration suppression system may include at least one processor configured to: control at least one light source to vary a beam of light from the at least one light source in scanning a field of view; control positioning of at least one optical deflector to deflect light from the at least one light source to scan the field of view; acquire data indicative of vehicle vibrations; determine, based on the acquired data, adjustments to the positioning of the at least one optical deflector to compensate for the vehicle vibrations; and implement the determined adjustments to the positioning of the at least one optical deflector to suppress at least a portion of the effect of the vehicle vibrations on scanning the field of view at the at least one optical deflector.

[0016]

[0016] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The camera may include at least one processor configured to: control at least one light source to vary a beam of light from the at least one light source in a scan cycle of the field of view; direct light projected from the at least one light source to at least one deflector to scan the field of view; receive reflected signals from the at least one sensor indicative of light reflected from objects in the field of view; coordinate the beams and scans such that at least three sectors of the field of view are generated in the scan cycle, a first sector having a first beam of light and an associated first detection range, a second sector having a second beam of light and an associated second detection range, and a third sector having a third beam of light and an associated third detection range, the second beam of light being greater than each of the first and third beams; and detect, based on input from the at least one sensor, an object in the second sector located at a distance greater than the first and third detection ranges.

[0017]

[0017] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The camera may include at least one processor configured to: control at least one light source to vary a light flux of the at least one light source over multiple scans of a field of view including a near field portion and a far field portion; control at least one optical deflector to deflect light from the at least one light source to scan the field of view; perform a first scan rate for a first frame associated with a scan cycle covering the near field portion and a second scan rate for a second frame associated with a scan cycle covering the far field portion, the first scan rate being greater than the second rate; and control the at least one light source to change light source parameters after projecting light that enables detection of an object in multiple sequential first frames associated with the near field portion, thereby projecting light that enables detection of an object in a second frame associated with the far field portion.

[0018] In accordance with the disclosed embodiments, a LIDAR system for use in a vehicle includes at least The vehicle may include at least one processor configured to: control at least one light source to vary a light flux of the at least one light source in scanning the field of view; control at least one optical deflector to deflect light from the at least one light source to scan the field of view; receive an input indicative of a current driving environment of the vehicle; and coordinate the control of the at least one light source and the control of the at least one optical deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of the light in scanning the field of view based on the current driving environment.

[0019] In accordance with the disclosed embodiments, a LIDAR system for use in a vehicle includes at least The system may include at least one processor configured to: control at least one light source to vary a flux of light from the at least one light source over a scan cycle of the field of view; control at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtain an input indicating that a lane crossing turn of the vehicle is imminent; and, in response to the input indicating that a lane crossing turn of the vehicle is imminent, coordinate the control of the at least one light source with the control of the at least one optical deflector to increase the flux of light on a side opposite the direction of the vehicle's lane crossing turn, including a far lane into which the vehicle is merging, relative to other portions of the field of view; and temporarily increase a detection range opposite the direction of the lane crossing turn of the vehicle relative to a detection range in the direction of the lane crossing turn.

[0020]

[0020] In accordance with the disclosed embodiments, a vehicle for use with a roadway vehicle traveling on a highway The LIDAR system for the present invention may include at least one processor configured to: control the at least one light source to vary a flux of light from the at least one light source in a scan cycle of a field of view; and control at least one optical deflector to deflect light from the at least one light source to scan the field of view, the field of view being divisible into a central region generally corresponding to a highway on which the vehicle is traveling, a right peripheral region generally corresponding to an area to the right of the highway, and a left peripheral region generally corresponding to an area to the left of the highway; receive input that the vehicle is in a mode corresponding to traveling on the highway; and, in response to the input that the vehicle is in a mode corresponding to traveling on the highway, coordinate control of the at least one light source and control of the at least one optical deflector such that more light is directed toward the central region than toward the right peripheral region and the left peripheral region during scanning of the field of view including the central region, the right peripheral region, and the left peripheral region.

[0021]

[0021] In accordance with the disclosed embodiments, the LIDAR system includes at least one processor. The camera may include at least one processor configured to: control at least one light source to vary a flux of light from the at least one light source in scanning the field of view; control at least one light deflector to deflect light from the at least one light source to scan the field of view; receive information from the at least one sensor indicative of ambient light in the field of view; identify in the received information an indication of a first portion of the field of view containing more ambient light than a second portion of the field of view; and modify light source parameters such that, when scanning the field of view, a greater flux of light is projected toward the first portion of the field of view than toward the second portion of the field of view.

[0022] In accordance with the disclosed embodiments, a LIDAR system for use in a vehicle includes: The system may include at least one light source configured to project light toward the field of view to illuminate a plurality of objects in both environments; and at least one processor configured to control the at least one light source to vary a flux of light from the at least one light source in scanning a plurality of portions of the field of view, receive information indicating that heat is being emitted from at least one system component and that a temperature associated with the at least one system component exceeds a threshold value during the scanning of the field of view, and in response to the received information indicating that the temperature exceeds the threshold value, vary an illumination ratio between two portions of the field of view such that less light is delivered to the field of view during at least one subsequent scan cycle than during a previous scan cycle.

[0023]

[0023] In accordance with the disclosed embodiments, the LIDAR system includes a window for receiving light. The optical system may include a window, a microelectromechanical (MEMS) mirror for deflecting light to provide deflected light, a frame, an actuator, and an interconnection element mechanically connected between the actuator and the MEMS mirror, each actuator including a body and a piezoelectric element, the piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied, and the MEMS mirror is oriented relative to the window when the MEMS mirror is positioned in an idle position.

[0024]

[0024] In accordance with another disclosed embodiment, a method is performed by the processor described above. It may include one or more of any of the steps and / or may include any of the steps described herein.

[0025] According to yet another disclosed embodiment, a non-transitory computer readable storage The medium can store program instructions that, when executed by at least one processing device, perform any of the methods described herein.

[0026]

[0026] The foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to be limiting of the present invention. It does not limit the scope of the claims.

[0027]

[0026] The foregoing general description and the following detailed description are exemplary and explanatory only. and does not limit the scope of the claims. [Brief explanation of the drawings]

[0028] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various embodiments of the invention. This shows the attitude.

[0029] [Figure 1A]

[0028] FIG. 1 illustrates an exemplary LIDAR system according to the disclosed embodiments. [Figure 1B]

[0029] An image showing an exemplary output of a single scan cycle of a LIDAR system mounted on a vehicle, according to the disclosed embodiments. [Figure 1C]

[0030] 10 is another image showing a representation of a point cloud model determined from the output of a LIDAR system in accordance with disclosed embodiments. [Figure 2A]

[0031] FIG. 1 illustrates a configuration of a projection unit according to an embodiment of the present disclosure. [Figure 2B]

[0031] FIG. 1 illustrates a configuration of a projection unit according to an embodiment of the present disclosure. [Figure 2C]

[0031] FIG. 1 illustrates a configuration of a projection unit according to an embodiment of the present disclosure. [Figure 2D]

[0031] FIG. 1 illustrates a configuration of a projection unit according to an embodiment of the present disclosure. [Figure 3A]

[0032] FIG. 2 illustrates a configuration of a scan unit according to an embodiment of the present disclosure. [Figure 3B]

[0032] FIG. 1 illustrates a configuration of a scanning unit according to an embodiment of the present disclosure. [Figure 3C]

[0032] FIG. 1 illustrates a configuration of a scanning unit according to an embodiment of the present disclosure. [Figure 3D]

[0032] FIG. 1 illustrates a configuration of a scanning unit according to an embodiment of the present disclosure. [Figure 4A]

[0033] FIG. 2 illustrates a configuration of a detection unit according to an embodiment of the present disclosure. [Figure 4B]

[0033] A diagram showing the configuration of a detection unit according to an embodiment of the present disclosure. [Figure 4C]

[0033] A diagram showing the configuration of a detection unit according to an embodiment of the present disclosure. [Figure 4D]

[0033] A diagram showing the configuration of a detection unit according to an embodiment of the present disclosure. [Figure 4E]

[0033] A diagram showing the configuration of a detection unit according to an embodiment of the present disclosure. [Figure 5A]

[0034] It includes four exemplary figures showing the emission pattern for a single portion of the field of view at a single frame time. [Figure 5B]

[0035] Three exemplary diagrams are included showing emission schemes at a single frame time for the entire field of view. [Figure 5C]

[0036] FIG. 10 shows the actual light emission projected and the received reflection during a single frame time for the entire field of view. [Figure 6A]

[0037] FIG. 1 illustrates a first exemplary implementation according to an embodiment of the present disclosure. [Figure 6B]

[0037] FIG. 1 illustrates a first exemplary implementation according to an embodiment of the present disclosure. [Figure 6C]

[0037] FIG. 1 illustrates a first exemplary implementation according to an embodiment of the present disclosure. [Figure 6D]

[0038] FIG. 10 illustrates a second exemplary implementation according to an embodiment of the present disclosure. [Figure 7]

[0039] 1 is a flowchart illustrating an exemplary method for detecting objects using a LIDAR system, according to an embodiment of the present disclosure. [Figure 8A]

[0040] FIG. 1 illustrates an example of a two-dimensional sensor according to some embodiments of the present disclosure. [Figure 8B]

[0041] FIG. 1 illustrates an example of a one-dimensional sensor according to some embodiments of the present disclosure. [Figure 9A]

[0042] FIG. 1 is a block diagram illustrating an example LIDAR device with transmit and receive alignment, according to some embodiments of the present disclosure. [Figure 9B]

[0043] FIG. 1 is a block diagram illustrating another example LIDAR device having transmit and receive alignment, according to some embodiments of the present disclosure. [Figure 10A]

[0044] 1A-1C illustrate several examples of exemplary first and second fields of view (FOVs), according to some embodiments of the present disclosure. [Figure 10B]

[0045] 10A-10C illustrate exemplary scanning patterns of a second FOV across a first FOV, according to some embodiments of the present disclosure. [Figure 10C]

[0046] FIG. 10 illustrates another example scanning pattern of a second FOV across a first FOV, according to some embodiments of the present disclosure. [Figure 11]

[0047] 1 provides a schematic diagram of a LIDAR system field of view and associated depth map scene representation according to embodiments disclosed herein. [Figure 12]

[0048] 1 provides a schematic diagram of a field of view and associated depth map scene representation generated using a LIDAR system with dynamically variable flux capability, according to embodiments disclosed herein. [Figure 13]

[0049] 1 provides a flowchart diagram of a method for dynamically varying light flux in a scan field of view of a LIDAR system according to embodiments disclosed herein. [Figure 14]

[0050] 1 provides a schematic diagram of a LIDAR system field of view and associated depth map scene representation according to embodiments disclosed herein. [Figure 15]

[0051] 1 provides a schematic diagram of a field of view and associated depth map scene representation generated using a LIDAR system with dynamically variable beam capability, according to embodiments disclosed herein. [Figure 16]

[0052] 1 provides a flowchart diagram of a method for dynamically varying light flux in a scan field of view of a LIDAR system according to embodiments disclosed herein. [Figure 17]

[0053] 1 is a flowchart illustrating an example method for changing sensor sensitivity in a LIDAR system, according to some embodiments of the present disclosure. [Figure 18]

[0054] FIG. 2 illustrates an example of a received signal along with a function for estimating an expected signal, in accordance with some embodiments of the present disclosure. [Figure 19]

[0055] FIG. 2 illustrates an example of a received signal along with a function for estimating noise, in accordance with some embodiments of the present disclosure. [Figure 20]

[0056] 1 is a flowchart illustrating a first example of a method for detecting objects in a region of interest using a LIDAR system. [Figure 21]

[0057] 10 is a flowchart illustrating a second example of a method for detecting objects in a region of interest using a LIDAR system. [Figure 22]

[0058] FIG. 1 illustrates another diagram of an exemplary LIDAR system in accordance with disclosed embodiments. [Figure 23]

[0059] FIG. 1 is a schematic diagram of a LIDAR system according to an embodiment of the present disclosure. [Figure 24]

[0060] 1 is a flowchart of an exemplary process for controlling light emission according to an embodiment of the present disclosure. [Figure 25A]

[0061] 25 is a flowchart of an exemplary implementation of the process shown in FIG. 24 according to an embodiment of the present disclosure. [Figure 25B]

[0062] 1 is a flowchart illustrating an exemplary method for detecting an object, according to some embodiments of the present disclosure. [Figure 26A]

[0063] 1 is a flowchart illustrating an example method for detecting objects using LIDAR, according to some embodiments of the present disclosure. [Figure 26B]

[0064] 1 is a flowchart illustrating another example method for detecting objects using LIDAR, consistent with some embodiments of the present disclosure. [Figure 26C]

[0065] 10 is a flowchart illustrating yet another exemplary method for detecting objects using LIDAR, consistent with some embodiments of the present disclosure. [Figure 27]

[0066] FIG. 1 is a diagram of a LIDAR system having multiple light sources and a common deflector, according to some embodiments of the present disclosure. [Figure 28]

[0067] FIG. 1 is a diagram of another LIDAR system having multiple light sources and a common deflector, in accordance with some embodiments of the present disclosure. [Figure 29]

[0068] A block diagram of the LIDAR system 100 is provided along with various sources of information that the LIDAR system 100 can utilize in allocating its available optical and / or computational budget. [Figure 30A]

[0069] 30 shows a flowchart providing an example of a method 3000 for controlling a LIDAR system based on an allocated budget, according to disclosed embodiments. [Figure 30B]

[0070] FIG. 1 illustrates a flowchart of an exemplary method for controlling a LIDAR system according to embodiments disclosed herein. [Figure 31]

[0071] 1 is a schematic diagram of a situation where unequal distribution of the optical budget is appropriate, according to an embodiment disclosed herein; [Figure 32A]

[0072] 1 illustrates a vehicle according to an exemplary disclosed embodiment and a vibration compensation system according to some embodiments. [Figure 32B]

[0072] FIG. 1 illustrates a vibration compensation system according to some embodiments. [Figure 32C]

[0072] A diagram illustrating a steering device, a central processing unit (CPU), and an actuator-mirror according to some embodiments. [Figure 32D]

[0072] FIG. 1 illustrates an actuator-mirror according to some embodiments. [Figure 32E]

[0072] Figure 1 illustrates a two-axis MEMS mirror according to some embodiments. [Figure 32F]

[0072] Figure 1 illustrates a single-axis MEMS mirror according to some embodiments. [Figure 32G]

[0072] Figure 1 illustrates a round MEMS mirror according to some embodiments. [Figure 33]

[0073] 1 is a schematic diagram of a LIDAR system installation capable of compensating for detected motion along a roadway, according to an example disclosed embodiment; FIG. [Figure 34]

[0074] FIG. 1 is a flow diagram illustrating a method of utilizing a vehicle vibration compensation system. [Figure 35A]

[0075] 1 is a schematic diagram of different detection ranges in different sectors according to embodiments disclosed herein; [Figure 35B]

[0075] FIG. 1 is a schematic diagram of different detection ranges in different sectors according to an embodiment disclosed herein. [Figure 35C]

[0075] FIG. 1 is a schematic diagram of different detection ranges in different sectors according to an embodiment disclosed herein. [Figure 35D]

[0075] FIG. 1 is a schematic diagram of different detection ranges in different sectors according to an embodiment disclosed herein. [Figure 36]

[0076] 1 is a schematic diagram illustrating different sectors in the field of view according to embodiments disclosed herein; [Figure 37]

[0077] 1 is a flowchart illustrating an example method for detecting objects in a region of interest using a LIDAR system, according to embodiments disclosed herein. [Figure 38]

[0078] FIG. 1 is a schematic diagram of a field of view of a LIDAR system according to an embodiment of the present disclosure. [Figure 39]

[0079] FIG. 1 is a schematic diagram of an exemplary field of view of a LIDAR system according to an embodiment of the present disclosure. [Figure 40A]

[0080] 1 is a flowchart of an exemplary implementation of a scanning process according to an embodiment of the present disclosure. [Figure 40B]

[0080] A flowchart of an exemplary implementation of a scanning process according to an embodiment of the present disclosure. [Figure 41A]

[0081] 1 is a flowchart illustrating an example method for detecting objects in a path of a vehicle using LIDAR, according to some embodiments of the present disclosure. [Figure 41B]

[0082] 1 is a flowchart illustrating another example method for detecting objects in a path of a vehicle using LIDAR, consistent with some embodiments of the present disclosure. [Figure 42A]

[0083] FIG. 1 illustrates an example of a vehicle in an urban environment, according to some embodiments of the present disclosure. [Figure 42B]

[0084] FIG. 1 illustrates an example of a vehicle in a rural environment, according to some embodiments of the present disclosure. [Figure 42C]

[0085] FIG. 1 illustrates an example of vehicles in a traffic jam, according to some embodiments of the present disclosure. [Figure 42D]

[0086] FIG. 1 illustrates an example of a vehicle in a tunnel, according to some embodiments of the present disclosure. [Figure 42E]

[0087] FIG. 1 illustrates an example of a vehicle exiting a tunnel, according to some embodiments of the present disclosure. [Figure 42F]

[0088] 42A, 42B, and 42C from different angles, according to some embodiments of the present disclosure. [Figure 43]

[0089] FIG. 1 illustrates an exemplary LIDAR system having multiple light sources aimed at a common area of ​​at least one optical deflector. [Figure 44]

[0090] 1 is a flowchart illustrating an example method of a LIDAR detection scheme for lane crossing turns, according to some embodiments of the present disclosure. [Figure 45]

[0091] FIG. 1 illustrates an example of a LIDAR detection scanning scheme according to some embodiments of the present disclosure. [Figure 46A]

[0092] FIG. 1 illustrates an example of a LIDAR detection scheme for lane crossing turns and other situations, according to some embodiments of the present disclosure. [Figure 46B]

[0092] A diagram showing an example of a LIDAR detection scheme for lane crossing turns and other situations, according to some embodiments of the present disclosure. [Figure 47]

[0093] FIG. 1 is a schematic diagram of a vehicle traveling in a highway environment with the assistance of a LIDAR system according to an exemplary disclosed embodiment. [Figure 48A]

[0094] FIG. 1 is a schematic diagram of dynamic light allocation by a LIDAR system in a highway environment, according to an exemplary disclosed embodiment. [Figure 48B]

[0094] FIG. 1 is a schematic diagram of dynamic light allocation by a LIDAR system in a highway environment, according to an exemplary disclosed embodiment. [Figure 48C]

[0094] FIG. 1 is a schematic diagram of dynamic light allocation by a LIDAR system in a highway environment, according to an exemplary disclosed embodiment. [Figure 48D]

[0094] FIG. 1 is a schematic diagram of dynamic light allocation by a LIDAR system in a highway environment, according to an exemplary disclosed embodiment. [Figure 49]

[0095] 1 illustrates a method for detecting objects in a path of a vehicle using a LIDAR system, according to an example disclosed embodiment. [Figure 50]

[0096] FIG. 1 illustrates an example of a sensing configuration for a LIDAR system according to an exemplary disclosed embodiment. [Figure 51]

[0097] FIG. 1 is a schematic diagram illustrating various portions of a LIDAR field of view. [Figure 52]

[0098] 1 is a flowchart illustrating an example of a method for detecting objects in a region of interest using a LIDAR system. [Figure 53]

[0099] FIG. 1 is a schematic diagram of a LIDAR system according to an embodiment of the present disclosure. [Figure 54]

[0100] 1 is a flowchart of an exemplary implementation of a temperature reduction process according to an embodiment of the present disclosure. [Figure 55]

[0101] 1 is a flowchart of an exemplary implementation of a temperature reduction process according to an embodiment of the present disclosure. [Figure 56]

[0102] 1A-1C illustrate examples of MEMS mirrors and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 57]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 58]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 59]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 60]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 61]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 62]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 63]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 64]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 65]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 66]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 67]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 68]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 69]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 70]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 71]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 72]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 73]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 74]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 75]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 76]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 77]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 78]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 79]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 80]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 81]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 82]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 83]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure. [Figure 84]

[0102] A diagram showing an example of a MEMS mirror and related components incorporated into a scanning unit of a LIDAR system, according to some embodiments of the present disclosure.

[0030]

[0103] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numbers are used in the drawings and the following description to refer to the same or similar parts. While several exemplary embodiments are described herein, modifications, adaptations, and other implementations are possible. For example, substitutions, additions, or changes may be made to the components shown in the drawings, and the exemplary methods described herein may be modified by substituting, rearranging, removing, or adding steps to the disclosed methods. Therefore, the following detailed description is not limited to the disclosed embodiments and examples. The proper scope is defined by the appended claims.

[0031] Definition of Terms

[0104] The disclosed embodiments may include an optical system. As used herein, the term "optical system" broadly includes any system used to generate, detect, and / or manipulate light. By way of example only, an optical system may include one or more optical components for generating, detecting, and / or manipulating light. For example, light sources, lenses, mirrors, prisms, beam splitters, collimators, polarization optics, optical modulators, optical switches, optical amplifiers, optical detectors, optical sensors, optical fibers, and semiconductor optical components may each, but are not necessarily, part of an optical system. In addition to one or more optical components, an optical system may also include other non-optical components, such as electrical components, mechanical components, chemical reaction components, and semiconductor components. The non-optical components may cooperate with the optical components of the optical system. For example, an optical system may include at least one processor for analyzing the detected light.

[0032]

[0105] In accordance with the present disclosure, the optical system may be a LIDAR system. As used herein, the term "LIDAR system" refers to any LIDAR system capable of determining the value of a parameter indicative of the distance between a pair of tangible objects based on reflected light. The term "determining distance" broadly includes systems. In one embodiment, a LIDAR system can determine the distance between a pair of tangible objects based on the reflection of light emitted by the LIDAR system. As used herein, the term "determining distance" broadly includes generating an output indicative of the distance between the pair of tangible objects. The determined distance can represent a physical dimension between the pair of tangible objects. By way of example only, the determined distance can include a line of flight between the LIDAR system and another tangible object within the field of view of the LIDAR system. In another embodiment, a LIDAR system can determine the relative velocity between the pair of tangible objects based on the reflection of light emitted by the LIDAR system. Examples of outputs indicating the distance between a pair of tangible objects include the number of standard length units between the tangible objects (e.g., meters, inches, kilometers, millimeters), the number of arbitrary length units (e.g., the number of LIDAR system lengths), the ratio of the distance to another length (e.g., relative to the length of an object detected in the LIDAR system's field of view), an amount of time (e.g., given in standard units, arbitrary units or ratios, e.g., the time it takes light to travel between the tangible objects), one or more locations (e.g., defined using recognized coordinates, defined relative to a known location), and others.

[0033]

[0106] A LIDAR system can determine the distance between a pair of material objects based on reflected light. In one embodiment, a LIDAR system can process sensor detection results to generate time information indicative of the time period between the emission of an optical signal and its detection by the sensor. This time period is sometimes referred to as the "time of flight" of the optical signal. In one example, the optical signal is a short pulse, the rise time and / or fall time of which can be detected upon reception. Processing information about the time of flight of the optical signal using known information about the speed of light in the relevant medium (usually air) can provide the distance traveled by the optical signal between emission and detection. In another embodiment, a LIDAR system can determine distance based on a frequency phase shift (or multi-frequency phase shift). Specifically, a LIDAR system can process information indicative of one or more modulation phase shifts of the optical signal (e.g., by solving several simultaneous equations to provide a final measure). For example, the emitted optical signal can be modulated by one or more constant frequencies. At least one phase shift in the modulation between the emitted signal and the detected reflection can indicate the distance traveled by the light between emission and detection. The modulation may be applied to a continuous wave optical signal, a quasi-continuous wave optical signal, or another type of emitted optical signal. It should be noted that additional information may be used by the LIDAR system to determine distance, such as location information (e.g., relative position) between the signal's projection location and detection location (especially if they are far from each other), and others.

[0034]

[0107] In some embodiments, a LIDAR system can be used to detect multiple objects within the environment of the LIDAR system. The term "detecting objects within the environment of the LIDAR system" broadly includes generating information indicative of objects that have reflected light toward a detector associated with the LIDAR system. When more than one object is detected by the LIDAR system, the information generated about the different objects, for example, a car driving down a road, a bird sitting in a tree, a person touching a bicycle, a van moving toward a building, etc. Information such as movement to and from the vehicle can be communicated with one another. The dimensions of the environment in which the LIDAR system detects objects can vary depending on the implementation. For example, a LIDAR system can be used to detect multiple objects within the environment of a vehicle equipped with the LIDAR system at horizontal distances of up to 100 m (or 200 m, 300 m, etc.) and vertical distances of up to 10 m (or 25 m, 50 m, etc.). In another example, a LIDAR system can be used to detect multiple objects within the vehicle's environment or within a predetermined horizontal range (e.g., 25°, 50°, 100°, 180°, etc.) and a predetermined vertical height (e.g., ±10°, ±20°, +40° to 20°, ±90°, or 0° to 90°).

[0035]

[0108] As used herein, the term "detecting an object" can broadly refer to determining the presence of an object (e.g., the object may be in a particular orientation relative to the LIDAR system and / or another reference location, or the object may be within a particular volume of space). Additionally or alternatively, the term "detecting an object" can refer to determining the distance between the object and another location (e.g., the location of the LIDAR system, a location on Earth, or the location of another object). Additionally or alternatively, the term "detecting an object" may refer to identifying an object (e.g., classifying the type of object, such as a car, tree, or road; recognizing a particular object (e.g., the Washington Monument); determining a vehicle registration number; revealing the composition of an object (e.g., solid, liquid, transparent, translucent); or determining the motion parameters of an object (e.g., whether it is moving, its speed, direction of movement, expansion of the object). Additionally or alternatively, the term "detecting an object" may refer to generating a point cloud map, where each of the one or more points in the point cloud map corresponds to a location within the object or a location on the object surface. In one embodiment, the data resolution for the point cloud map representation of the field of view may be associated with 0.1° x 0.1° or 0.3° x 0.3° of the field of view.

[0036]

[0109] In accordance with the present disclosure, the term "object" broadly includes any finite composition capable of reflecting light from at least a portion thereof. For example, an object may be at least partially solid (e.g., a car, a tree), at least partially liquid (e.g., a puddle on a road, rain), at least partially gaseous (e.g., smoke, a cloud), or composed of many discrete particles (e.g., sandstorm, fog, spray), or of one or more dimensions, such as ∼1 millimeter (mm), ∼5 mm, ∼10 mm, ∼50 mm, ∼100 mm, ∼500 mm, ∼1 meter (m), ∼5 m, ∼10 m, ∼50 m, or ∼100 m. Smaller or larger objects, and any size in between, may also be detected. It should be noted that for various reasons, a LIDAR system may detect only a portion of an object. For example, in some cases, light is reflected from only some sides of an object (e.g., only the side facing the LIDAR system is detected). In other cases, light is projected onto only a portion of the object (e.g., a laser beam projected onto a road or building). In other cases, the object may be partially obstructed by another object between the LIDAR system and the detected object, and in other cases, the LIDAR sensor may only detect light reflected from part of the object, for example, because ambient light or other interference prevents detection of some parts of the object.

[0037]

[0110] In accordance with the present disclosure, a LIDAR system can be configured to detect objects by scanning the environment of the LIDAR system. The term "scanning the environment of the LIDAR system" broadly includes illuminating the field of view or a portion of the field of view of the LIDAR system. In one example, scanning the environment of the LIDAR system can be achieved by moving or pivoting an optical deflector to deflect light in different directions toward different portions of the field of view. In another example, scanning the environment of the LIDAR system can be achieved by changing the positioning (i.e., location and / or orientation) of a sensor relative to the field of view. In another example, scanning the environment of the LIDAR system can be achieved by changing the positioning (i.e., location and / or orientation) of a light source relative to the field of view. In yet another example, scanning the environment of the LIDAR system can be achieved by moving at least one light source and at least one sensor rigidly relative to the field of view. This can be achieved by changing their positions (i.e., the relative distance and orientation of the at least one sensor and the at least one light source is maintained).

[0038]

[0111] As used herein, the term "field of view of a LIDAR system" may broadly include the range of the observable environment of the LIDAR system within which an object can be detected. It should be noted that the field of view (FOV) of a LIDAR system may be affected by various conditions, including, but not limited to, the orientation of the LIDAR system (e.g., the direction of the optical axis of the LIDAR system), the position of the LIDAR system relative to the environment (e.g., the distance from the ground, adjacent terrain, and obstacles), and the operating parameters of the LIDAR system (e.g., the emission power, calculation settings, and specified operating angle). The field of view of a LIDAR system may be defined, for example, using solid angles (e.g., φ and θ angles, where φ and θ are defined, for example, in a plane perpendicular to the axis of symmetry of the LIDAR system and / or its FOV). In one example, the field of view may be defined within a specific range (e.g., up to 200 m).

[0039]

[0112] Similarly, the term "instantaneous field of view" refers to any It can broadly include the range of the observable environment in which objects can be detected by the LIDAR system at a given moment. For example, in a scanning LIDAR system, the instantaneous field of view is smaller than the entire FOV of the LIDAR system and can be moved within the FOV of the LIDAR system to allow detection in other portions of the LIDAR system's FOV. Moving the instantaneous field of view within the FOV of the LIDAR system can be achieved by moving an optical deflector in the LIDAR system (or external to the LIDAR system) to deflect the light beam to and / or from the LIDAR system in different directions. In one embodiment, the LIDAR system can be configured to scan a scene within the environment in which the LIDAR system is operating. As used herein, the term "scene" refers to a scene. The term scene may broadly include some or all of the objects within the field of view of the LIDAR system, in their relative positions and current state during operation of the LIDAR system. For example, a scene may include ground elements (e.g., dirt, roads, grass, sidewalks, road markings), sky, man-made objects (e.g., vehicles, buildings, signs), plants, people, animals, light-casting elements (e.g., flashlights, the sun, other LIDAR systems), etc.

[0040]

[0113] The disclosed embodiments may include obtaining information used to generate a reconstructed three-dimensional model. Examples of types of reconstructed three-dimensional models that can be used include a point cloud model and a polygon mesh (e.g., a triangle mesh). The terms "point cloud" and "point cloud model" are well known in the art and should be interpreted to include a set of data points that are spatially positioned in a particular coordinate system (i.e., have identifiable locations within the space described by each coordinate system). The term "point cloud point" refers to a set of data points that are spatially (either dimensionless or dimensionally separated, e.g., 1 cm 3A 3D object refers to a point within a 3D object (which may be a small cell space such as a rectangle), whose location can be described by a point cloud model using a set of coordinates (e.g., (X, Y, Z), (r, φ, θ)). By way of example only, a point cloud model may store additional information for some or all of its points (e.g., color information for points generated from camera images). Similarly, any other type of reconstructed 3D model may store additional information for some or all of its objects. Similarly, the terms "polygon mesh" and "triangle mesh" are well known in the art and should be interpreted to include, among other things, a set of vertices, edges, and faces that define the shape of one or more 3D objects (such as polyhedra). The faces may include one or more triangles (triangle mesh), quadrilaterals, or other simple convex polygons, which can simplify rendering. The faces may also include more general concave polygons or polygons with holes. Polygon meshes can be represented using a variety of techniques, such as vertex-vertex meshes, face-vertex meshes, winged-edge meshes, and render dynamic meshes. Various portions of the polygon mesh (e.g., vertices, faces, edges) are spatially positioned (i.e., have identifiable locations in the space described by each coordinate system), either directly and / or relatively. The generation of the reconstructed 3D model can be performed using any standard, proprietary, and / or novel photogrammetry technique, many of which are known in the art. It should be noted that other types of environmental models can also be generated by LIDAR systems.

[0041]

[0114] In accordance with disclosed embodiments, a LIDAR system may include at least one projection unit that uses a light source configured to project light. As used herein, the term "light source" broadly refers to any device configured to emit light. In one embodiment, the light source may be a laser, such as a solid-state laser, a laser diode, a high-power laser, or an alternative light source, such as a light-emitting diode (LED)-based light source. Additionally, the light source 112 shown throughout the figures may emit light in different formats, such as pulsed light, continuous wave (CW), or quasi-CW. For example, one type of light source that may be used is a vertical-cavity surface-emitting laser (VCSEL). Another type of light source that may be used is an external cavity diode laser (ECDL). In some examples, the light source may have a wavelength of approximately 650 nm. The light source may include a laser diode configured to emit light at a wavelength between about 800 nm and about 1000 nm, about 850 nm and about 950 nm, or about 1300 nm and about 1600 nm. Unless otherwise indicated, the term "about" with respect to a numerical value is defined as a variance of up to 5% relative to the stated value. Further details regarding the projection unit and the at least one light source are described below with reference to Figures 2A to 2C.

[0042]

[0115] According to disclosed embodiments, a LIDAR system may include at least one scanning unit that uses at least one optical deflector configured to deflect light from a light source to scan a field of view. The term “optical deflector” broadly includes any mechanism or module configured to deviate light from its original path, such as a mirror, a prism, a controllable lens, a mechanical mirror, a mechanical scanning polygon, active diffraction (e.g., a controllable LCD), a Risley prism, non-mechanical electro-optical beam steering (such as those produced by Vscent), polarization gratings (such as those offered by Boulder Non-Linear Systems), an optical phased array (OPA), and others. In one embodiment, the optical deflector may include multiple optical components, such as at least one reflective element (e.g., a mirror) and at least one refractive element (e.g., a prism, a lens). In one example, the optical deflector may be movable to deviate light at various angles (e.g., at discrete angles or over a continuous range of angles). The optical deflector may optionally be controllable in various ways (e.g., deflect by α degrees, change the deflection angle by Δα, move a component of the optical deflector by M millimeters, change the rate at which the deflection angle is changed). Furthermore, the optical deflector may optionally be operable to change the angle of deflection in a single plane (e.g., the θ coordinate). The optical deflector may optionally be operable to change the angle of deflection in two non-parallel planes (e.g., the θ and φ coordinates). Alternatively or additionally, the optical deflector may optionally be operable to change the angle of deflection between predetermined settings (e.g., along a predetermined scan route) or otherwise. With regard to the use of optical deflectors in LIDAR systems, it should be noted that the optical deflector may be used in the outbound direction (also referred to as the transmit direction, or TX) to deflect light from a light source to at least a portion of the field of view. However, it is also possible to use a light deflector in the inbound direction (also referred to as the receive direction or RX) to deflect light from at least a portion of the field of view onto one or more light sensors.Further details about the scanning unit and the at least one optical deflector are described below with reference to Figures 3A to 3C.

[0043]

[0116] The disclosed embodiments may include pivoting the optical deflector to scan the field of view. As used herein, the term "pivot" refers to the movement of an object (especially a solid object) around the object. The term "pivoting" broadly encompasses rotating an optical deflector (e.g., an object) about one or more axes of rotation while maintaining a center of rotation substantially fixed. In one embodiment, pivoting an optical deflector may, but does not necessarily, involve rotating the optical deflector about a fixed axis (e.g., a shaft). For example, in some MEMS mirror implementations, the MEMS mirror can move through the actuation of multiple benders connected to the mirror, allowing the mirror to undergo some degree of spatial translation in addition to rotation. Nevertheless, such mirrors can be designed to rotate about a substantially fixed axis and are therefore considered to pivot in accordance with the present disclosure. In other embodiments, certain types of optical deflectors (e.g., non-mechanical electro-optical beam steering, OPA) do not require moving components or internal movement to change the deflection angle of the deflected light. It should be noted that discussions regarding the movement or pivoting of an optical deflector also apply mutatis mutandis to controlling an optical deflector to change its deflection behavior. For example, controlling an optical deflector can change the deflection angle of a light beam arriving from at least one direction.

[0044]

[0117] Disclosed embodiments may include receiving reflections associated with a portion of the field of view corresponding to a single instantaneous position of the optical deflector. As used herein, the term "instantaneous position of the optical deflector" (also referred to as "state of the optical deflector") broadly refers to a location or position in space where at least one controlled component of the optical deflector is located at a moment in time or over a short period of time. In one embodiment, the instantaneous position of the optical deflector can be measured relative to a frame of reference. The frame of reference may be relative to at least one fixed point in the LIDAR system. Or, for example, the frame of reference may be relative to at least one fixed point in the scene. In some embodiments, the instantaneous position of the optical deflector may involve some movement of one or more components of the optical deflector (e.g., mirrors, prisms), but this movement is typically limited relative to the maximum degree of change during scanning of the field of view. For example, scanning the entire field of view of a LIDAR system may involve varying the deflection of the light over a 30° range. Additionally, the instantaneous position of at least one optical deflector may include an angular shift of the optical deflector within 0.05°. In other embodiments, the term "instantaneous position of the optical deflector" may refer to the position of the optical deflector during acquisition of light that is processed to provide data for a single point of a point cloud (or another type of 3D model) generated by the LIDAR system. In some embodiments, the instantaneous position of the optical deflector may correspond to a fixed position or orientation where the deflector briefly stops during illumination of a specific sub-region of the LIDAR field of view. In other cases, the instantaneous position of the optical deflector may correspond to a specific position / orientation along a scanning range of the optical deflector's position / orientation that the optical deflector passes through as part of a continuous or semi-continuous scan of the LIDAR field of view. In some embodiments, the optical deflector may be moved such that the optical deflector is positioned at multiple different instantaneous positions during a scan cycle of the LIDAR FOV. In other words, during the time period in which a scan cycle occurs, the deflector can be moved to a series of different instantaneous positions / orientations, each of which can be reached at a different time during the scan cycle.

[0045]

[0118] In accordance with disclosed embodiments, a LIDAR system may include at least one sensing unit employing at least one sensor configured to detect reflections from objects within a field of view. The term "sensor" broadly includes any device, element, or system capable of measuring electromagnetic wave characteristics (e.g., power, frequency, phase, pulse timing, pulse duration) and generating an output related to the measured characteristics. In some embodiments, at least one sensor may include multiple detectors constructed from multiple detection elements. At least one sensor may include one or more types of optical sensors. It should be noted that at least one sensor may include multiple sensors of the same type that differ in other characteristics (e.g., sensitivity, size). Other types of sensors may also be used. It is also possible to combine several types of sensors for various reasons, such as improved detection at certain distance ranges (e.g., close ranges), improved sensor dynamic range, improved sensor temporal response, and improved detection in various environmental conditions (e.g., air temperature, rain, etc.).

[0046]

[0119] In one embodiment, at least one sensor is an avalanche photodiode (APD), a single photon avalanche diode (SPAD), or a combination of these, which function as the detection element on a common silicon substrate. A solid-state single-photon detection device, SiPM (Silicon photomultiplier), was constructed from silicon. The SiPM device includes a silicon photomultiplier tube (SPAD). In one example, a typical distance between SPADs is between about 10 μm and about 50 μm, and each SPAD can have a recovery time between about 20 ns and about 100 ns. Similar photomultiplier tubes made of other non-silicon materials can also be used. Although the SiPM device operates in a digital / switching mode, the SiPM is an analog device because all the microcells are read out in parallel, allowing signals to be generated within a dynamic range from a single photon to hundreds and thousands of photons detected by different SPADs. It should be noted that outputs from different types of sensors (e.g., SPADs, APDs, SiPMs, PIN diodes, photodetectors) are combined into a single output that can be processed by the processor of the LIDAR system. Further details about the sensing unit and at least one sensor are described below with reference to FIGS. 4A to 4C.

[0047]

[0120] According to disclosed embodiments, the LIDAR system may include or communicate with at least one processor configured to perform various functions. The at least one processor may constitute any physical device having electrical circuitry that performs logical operations on one or more inputs. For example, the at least one processor may include one or more integrated circuits (ICs), including all or part of an application-specific integrated circuit (ASIC), a microchip, a microcontroller, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or other circuitry suitable for executing instructions or performing logical operations. The instructions executed by the at least one processor may be preloaded, for example, into memory integrated into or embedded in the controller, or stored in a separate memory. The memory may include random access memory (RAM), read-only memory (ROM), a hard disk, an optical disk, a magnetic medium, flash memory, other permanent, fixed, or volatile memory, or any other mechanism capable of storing instructions. In some embodiments, the memory is configured to store information representing data about objects in the environment of the LIDAR system. In some embodiments, the at least one processor may include two or more processors. Each processor may have a similar configuration, or the processors may be of different configurations that are electrically connected or disconnected from one another. For example, the processors may be separate circuits or integrated into a single circuit. When two or more processors are used, the processors may be configured to operate independently or cooperatively. The processors may be coupled electrically, magnetically, optically, acoustically, mechanically, or by other means that allow them to interact. Further details regarding the processing unit and the at least one processor are described below with reference to Figures 5A-5C.

[0048] System Overview

[0121] 1A illustrates a LIDAR system 100 including a projection unit 102, a scanning unit 104, a detection unit 106, and a processing unit 108. The LIDAR system 100 can be mounted on a vehicle 110. According to an embodiment of the present disclosure, the projection unit 102 can include at least one light source 112, the scanning unit 104 can include at least one optical deflector 114, the detection unit 106 can include at least one sensor 116, and the processing unit 108 can include at least one processor 118. In one embodiment, the at least one processor 118 can be configured to coordinate the operation of the at least one light source 112 with the movement of the at least one optical deflector 114 to scan a field of view 120. During a scanning cycle, each instantaneous position of the at least one optical deflector 114 can be associated with a particular portion 122 of the field of view 120. Additionally, LIDAR system 100 may include at least one optional optical window 124 for directing projected light toward field of view 120 and / or receiving light reflected from objects within field of view 120. Optional optical window 124 may serve different purposes, such as collimating projected light and focusing reflected light. In one embodiment, optional optical window 124 may be an aperture, a flat window, a lens, or any other type of optical window.

[0049]

[0122] In accordance with the present disclosure, LIDAR system 100 can be used in autonomous or semi-autonomous road vehicles (e.g., cars, buses, vans, trucks, and any other ground vehicles). Autonomous road vehicles equipped with LIDAR system 100 can scan the environment and navigate to a destination vehicle without human input. Similarly, LIDAR system 100 can also be used in autonomous / semi-autonomous aerial vehicles (e.g., UAVs, drones, quadcopters, and any other aerial or flying device) or autonomous or semi-autonomous surface vessels (e.g., boats, ships, submarines, and any other watercraft). Autonomous aerial vehicles and surface vessels equipped with LIDAR system 100 can scan the environment and navigate to a destination autonomously or with the aid of a remote human operator. According to one embodiment, vehicle 110 (road vehicle, aircraft, or surface vessel) can use LIDAR system 100 to help detect and scan the environment in which vehicle 110 is operating.

[0050]

[0123] In some embodiments, the LIDAR system 100 may include one or more scanning units 104 for scanning the environment around the vehicle 110. The LIDAR system 100 may be attached to or mounted on any portion of the vehicle 110. The sensing unit 106 may receive reflections from the vehicle's 110 surroundings and forward reflection signals indicative of light reflected from objects within the field of view 120 to the processing unit 108. In accordance with the present disclosure, the scanning unit 104 may be mounted to or incorporated into the vehicle's 110 bumper, fender, side panel, spoiler, roof, headlight assembly, taillight assembly, rearview mirror assembly, hood, trunk, or any other suitable portion capable of housing at least a portion of a LIDAR system. In some cases, the LIDAR system 100 captures a complete surrounding view of the vehicle's 110 environment. As such, the LIDAR system 100 may have a 360° horizontal field of view. In one example, as shown in FIG. 1A , the LIDAR system 100 may include a single scanning unit 104 mounted on the roof of the vehicle 110. Alternatively, the LIDAR system 100 may include multiple scanning units (e.g., two, three, four, or more scanning units 104), each with a field of view that, when combined, covers a horizontal field of view by scanning 360 degrees around the vehicle 110. Those skilled in the art will recognize that the LIDAR system 100 may include any number of scanning units 104 arranged in any manner, with each unit having a field of view of 80 degrees to 120 degrees or less, depending on the number of units used. Furthermore, a 360 degree horizontal field of view may be achieved by mounting multiple LIDAR systems 100 on the vehicle 110, each with a single scanning unit 104. Nevertheless, it should be noted that one or more LIDAR systems 100 need not provide a full 360 degree field of view, and that a narrower field of view may be useful in some situations.For example, a vehicle 110 may require a first LIDAR system 100 with a 75° field of view in front of the vehicle, and possibly a second LIDAR system 100 with a similar FOV (optionally with a smaller detection range) in the rear. It should also be noted that various vertical field of view angles may be implemented.

[0051]

[0124] 1B is an image showing an example output from a single scan cycle of LIDAR system 100 mounted on vehicle 110, according to disclosed embodiments. In this example, scan unit 104 is integrated into the right headlight assembly of vehicle 110. Every gray dot in the image corresponds to a location in the environment around vehicle 110 determined from reflections detected by sensing unit 106. In addition to location, each gray dot may also be associated with various types of information, such as intensity (e.g., how much light returns from that location), reflectivity, proximity to other dots, and so on. In one embodiment, LIDAR system 100 may generate multiple point cloud data entries from reflections detected over multiple scan cycles of the field of view, enabling, for example, the determination of a point cloud model of the environment around vehicle 110.

[0052]

[0125] FIG. 1C is an image showing a representation of a point cloud model determined from the output of the LIDAR system 100. According to disclosed embodiments, a surround view image can be generated from the point cloud model by processing the generated point cloud data entries of the environment around the vehicle 110. In one embodiment, the point cloud model can be provided to a feature extraction module, which processes the point cloud information to identify multiple features. Each feature can include data regarding various aspects of objects (e.g., cars, trees, people, and roads) in the point cloud and / or the environment around the vehicle 110. The features can have the same resolution of the point cloud model (i.e., have the same number of data points arranged, optionally in a similarly sized 2D array) or different resolutions. The features can be stored in any type of data structure (e.g., raster, vector, 2D array, 1D array). Additionally, virtual features, such as a representation of the vehicle 110, a boundary line, or a bounding box separating regions or objects in the image (e.g., as shown in FIG. 1B), and icons representing one or more identified objects, can be overlaid on the representation of the point cloud model to form the final surround view image. For example, a symbol of a vehicle 110 may be superimposed in the center of the surround view image.

[0053] Projection Unit

[0126] Figures 2A-2D illustrate various configurations of the projection unit 102 and their roles in the LIDAR system 100. Specifically, Figure 2A illustrates a projection unit 102 with a single light source, Figure 2B illustrates multiple projection units 102 with multiple light sources aligned to a common optical deflector 114, Figure 2C illustrates a projection unit 102 with primary and secondary light sources 112, and Figure 2D illustrates an asymmetric deflector used in some configurations of the projection unit 102. Those skilled in the art will recognize that the illustrated configurations of the projection unit 102 may have many variations and modifications.

[0054]

[0127] 2A shows an example of a bi-static configuration of a LIDAR system 100 in which the projection unit 102 includes a single light source 112. The term "bi-static configuration" refers to the projection light and the light source 112 emitted from the LIDAR system. Bistatic refers broadly to a LIDAR system configuration in which reflected light entering the system passes through different optical channels. Specifically, outbound optical emissions can pass through a first optical window (not shown) and inbound optical emissions can pass through another optical window (not shown). In the example shown in FIG. 2A, a bistatic configuration involves a configuration in which the scanning unit 104 includes two optical deflectors: a first optical deflector 114A for the outbound light and a second optical deflector 114B for the inbound light (inbound light in a LIDAR system includes emitted light reflected from objects in the scene and may also include ambient light arriving from other sources). In such a configuration, the inbound and outbound paths are different.

[0055]

[0128] In this embodiment, all components of the LIDAR system 100 can be housed within a single housing 200 or split among multiple housings. As shown, the projection unit 102 is associated with a single light source 112 including a laser diode 202A (or one or more laser diodes coupled together) configured to emit light (projection light 204). In one non-limiting example, the light projected by the light source 112 may have a wavelength between about 800 nm and about 950 nm, an average power between about 50 mW and about 500 mW, a peak power between about 50 W and about 200 W, and a pulse width between about 2 ns and about 100 ns. Additionally, the light source 112 can optionally be associated with an optical assembly 202B used to manipulate (e.g., for collimation, focusing, etc.) the light emitted by the laser diode 202A. It should be noted that other types of light sources 112 can also be used, and the present disclosure is not limited to laser diodes. Furthermore, the light source 112 can emit light in various formats, such as optical pulses, modulated frequencies, continuous wave (CW), quasi-CW, or any other form corresponding to the particular light source used. The projection format and other parameters may be changed by the light source from time to time based on different factors, such as instructions from the processing unit 108. The projection light is projected toward an outbound deflector 114A, which functions as a steering element to direct the projection light toward the field of view 120. In this example, the scanning unit 104 also includes a pivotable return deflector 114B, which directs photons reflected back from an object 208 within the field of view 120 (reflected light 206) toward the sensor 116. The reflected light is detected by the sensor 116, and information about the object (e.g., the distance to the object 212) is determined by the processing unit 118.

[0056]

[0129] In this figure, LIDAR system 100 is connected to host 210. In accordance with the present disclosure, the term "host" refers to any computing environment that interfaces with LIDAR system 100 and may be a vehicle system (e.g., part of vehicle 110), a testing system, a security system, a survey system, a traffic control system, an urban modeling system, or any system that monitors its surroundings. Such a computing environment may include at least one processor and / or be connected to LIDAR system 100 via the cloud. In some embodiments, host 210 may also include an interface to external devices such as cameras and sensors configured to measure various characteristics of host 210 (e.g., acceleration, steering wheel deflection, vehicle backing, etc.). In accordance with the present disclosure, LIDAR system 100 may be fixed to a stationary object associated with host 210 (e.g., a building, a tripod) or to a portable system associated with host 210 (e.g., a portable computer, a movie camera). In accordance with the present disclosure, LIDAR system 100 can be connected to a host 210 to provide output from LIDAR system 100 (e.g., 3D models, reflectance images) to host 210. Specifically, host 210 can use LIDAR system 100 to help detect and scan its environment or any other environment. Additionally, host 210 can integrate, synchronize, or otherwise use the output of LIDAR system 100 with the output of other sensing systems (e.g., cameras, microphones, radar systems). In one example, LIDAR system 100 can be used by a security system, as described in more detail below with reference to FIG. 7.

[0057]

[0130] The LIDAR system 100 may also include a bus 212 (or other communication mechanism) that interconnects subsystems and components for transferring information within the LIDAR system 100. Optionally, the bus 212 (or another communication mechanism) can be used to interconnect the LIDAR system 100 with a host 210. In the example of FIG. 2A , the processing unit 108 includes two processors 118 for coordinated regulation of the operation of the projection unit 102, the scanning unit 104, and the sensing unit 106 based, at least in part, on information received from internal feedback of the LIDAR system 100. In other words, the processing unit 108 can be configured to dynamically operate the LIDAR system 100 in a closed loop. A closed-loop system is characterized by having feedback from at least one of the elements and updating one or more parameters based on the received feedback. Furthermore, a closed-loop system can receive feedback and update its own operation based, at least in part, on the feedback. A dynamic system or element is one that can be updated during operation.

[0058]

[0131] According to some embodiments, scanning the environment around the LIDAR system 100 may include illuminating the field of view 120 with light pulses. The light pulses may have parameters such as pulse duration, pulse angular dispersion, wavelength, instantaneous power, photon density at different distances from the light source 112, average power, pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase, polarization, and others. Scanning the environment around the LIDAR system 100 may also include detecting and characterizing various aspects of the reflected light. The characteristics of the reflected light may include, for example, time of flight (i.e., time from emission to detection), instantaneous power (e.g., power signature), average power throughout the return pulse, and photon distribution / signal during the return pulse. By comparing the characteristics of the light pulses with the characteristics of the corresponding reflections, distance and possibly physical properties such as the reflectance intensity of the object 212 can be estimated. By repeating this process for multiple adjacent portions 122 in a predetermined pattern (e.g., a raster, Lissajous, or other pattern), a complete scan of the field of view 120 can be achieved. As discussed in more detail below, in some situations, the LIDAR system 100 may direct light to only a portion of the portions 122 of the field of view 120 in each scan cycle. These portions may be adjacent to one another, but this is not necessarily the case.

[0059]

[0132] In another embodiment, the LIDAR system 100 may include a network interface 214 for communicating with a host 210 (e.g., a vehicle controller). Communication between the LIDAR system 100 and the host 210 is represented by dashed arrows. In one embodiment, the network interface 214 may be an integrated services digital network (ISDN) card, a cable modem, a satellite modem, or a modem that provides a data communication connection to a corresponding type of telephone line. As another example, network interface 214 may include a LAN card that provides a data communication connection to a compatible local area network (LAN). In another embodiment, network interface 214 may include an Ethernet port connected to a radio frequency receiver and transmitter and / or an optical (e.g., infrared) receiver and transmitter. The specific design and implementation of network interface 214 depends on the communication network or networks over which LIDAR system 100 and host 210 are intended to operate. For example, network interface 214 may be used to provide output of LIDAR system 100, such as a 3D model or operating parameters of LIDAR system 100, to an external system. In other embodiments, the communication unit may be used to receive commands from an external system, receive information about the inspected environment, or receive information from another sensor, for example.

[0060]

[0133] FIG. 2B illustrates an example of a monostatic configuration of a LIDAR system 100 including multiple projection units 102. The term "monostatic configuration" broadly refers to a LIDAR system configuration in which projected light exiting the LIDAR system and reflected light entering the LIDAR system follow at least a partially shared optical path. In one example, the outbound and inbound optical beams share at least one optical assembly through which both light beams pass. In another example, the outbound optical radiation may pass through an optical window (not shown), and the inbound optical radiation may pass through the same optical window (not shown). A monostatic configuration may include a configuration in which the scanning unit 104 includes a single optical deflector 114 that directs projected light toward the field of view 120 and reflected light toward the sensor 116. As shown, both projected light 204 and reflected light 206 are incident on an asymmetric deflector 216. The term "asymmetric deflector" refers to any optical device having two sides that can deflect a light beam incident from one side in a different direction than it deflects a light beam incident from the second side. In one example, the asymmetric deflector does not deflect the projected light 204 but deflects the reflected light 206 toward the sensor 116. An example of an asymmetric deflector may include a polarizing beam splitter. In another example, the asymmetric deflector 216 may include an optical isolator that allows light to pass only in one direction. In accordance with the present disclosure, a monostatic configuration of the LIDAR system 100 may include an asymmetric deflector that prevents reflected light from entering the light source 112 and directs all reflected light toward the sensor 116, thereby increasing detection sensitivity.

[0061]

[0134] 2B , the LIDAR system 100 includes three projection units 102, each including a single light source 112 aimed at a common optical deflector 114. In one embodiment, the multiple light sources 112 (including two or more light sources) can project light at substantially the same wavelength, with each light source 112 generally associated with a different area of ​​the field of view (illustrated as 120A, 120B, 120C). This allows for scanning of a wider field of view than could be achieved with a single light source 112. In another embodiment, the multiple light sources 102 can project light at different wavelengths, with all light sources 112 directed at the same (or overlapping) portion of the field of view 120.

[0062]

[0135] FIG. 2C illustrates an example of a LIDAR system 100 in which the projection unit 102 includes a primary light source 112A and a secondary light source 112B. The primary light source 112A can project light at wavelengths longer than those perceptible to the human eye to optimize SNR and detection range. For example, the primary light source 112A can project light at wavelengths between approximately 750 nm and 1100 nm. In contrast, the secondary light source 112B can project light at wavelengths visible to the human eye. For example, the secondary light source 112B can project light at wavelengths between approximately 400 nm and 700 nm. In one embodiment, the secondary light source 112B can project light along substantially the same optical path as the light projected by the primary light source 112A. Both light sources can be time-synchronized and can project light emissions simultaneously or in an alternating pattern. An alternating pattern means that the light sources are not active at the same time, reducing mutual interference. Those skilled in the art will recognize that other combinations of wavelength ranges and activation schedules can also be implemented.

[0063]

[0136] According to some embodiments, if the secondary light source 112B is too close to the LIDAR optical output port, it may cause a person to blink. This may ensure an eye-safety feature not possible with typical laser sources that utilize the near-infrared spectrum. In another embodiment, the secondary light source 112B may be used for calibration and reliability at the point of service (POS). This is done somewhat similarly to headlight calibration, which is done on a vehicle 110 using a special reflector / pattern at a specific height above the ground. The POS operator can check the LIDAR calibration by simply visually inspecting the scan pattern on a distinctive target, such as a test pattern board, at a specified distance from the LIDAR system 100. Furthermore, the secondary light source 112B may provide a means for operational reliability that the LIDAR is working for the end user. For example, the system may be configured to allow a person to place their hand in front of the optical deflector 114 to test its operation.

[0064]

[0137] The secondary light source 112B may also have an invisible element that doubles as a backup system in the event that the primary light source 112A fails. This feature may be useful for fail-safe devices with a high functional safety rating. Given that the secondary light source 112B is visible, and also for cost and complexity reasons, the secondary light source 112B may have less power than the primary light source 112A. Thus, if the primary light source 112A fails, the system functionality will degrade to the function and capability set of the secondary light source 112B. Although the capabilities of the secondary light source 112B may be less than those of the primary light source 112A, the LIDAR system 100 may be designed to allow the vehicle 110 to safely arrive at its destination.

[0065]

[0138] 2D illustrates an asymmetric deflector 216 that may be part of the LIDAR system 100. In the illustrated example, the asymmetric deflector 216 includes a reflective surface 218 (such as a mirror) and a unidirectional deflector 220. Although not necessarily the case, the asymmetric deflector 216 may optionally be an electrostatic deflector. The asymmetric deflector 216 may be used in a monostatic configuration of the LIDAR system 100, for example, as shown in FIGS. 2B and 2C, to allow for a common optical path for transmitting and receiving light via at least one deflector 114. However, typical asymmetric deflectors, such as beam splitters, are characterized by energy losses, especially in the receive path, which may be more sensitive to power losses than the transmit path.

[0066]

[0139] As shown in FIG. 2D , the LIDAR system 100 may include an asymmetric deflector 216 positioned in the transmit path. The asymmetric deflector 216 includes a unidirectional deflector 220 for separating the transmitted optical signal from the received optical signal. Optionally, the unidirectional deflector 220 may be substantially transparent to the transmitted light and substantially reflective to the received light. The transmitted light may be generated by the projection unit 102 and travel through the unidirectional deflector 220 to the scanning unit 104. The scanning unit 104 deflects the transmitted light toward an optical outlet. The received light travels through an optical inlet to at least one deflecting element 114, which deflects the reflected signal onto a different path away from the light source toward the detection unit 106. Optionally, the asymmetric deflector 216 may be combined with a polarized light source 112 that is linearly polarized with the same polarization axis as the unidirectional deflector 220. Notably, the cross-section of the outbound light beam is significantly smaller than that of the reflected signal. Accordingly, LIDAR system 100 may include one or more optical components (e.g., lenses, collimators) to focus or otherwise manipulate the emitted polarized beam to the dimensions of asymmetric deflector 216. In one embodiment, unidirectional deflector 220 may be a polarizing beam splitter that is substantially transparent to the polarized beam.

[0067]

[0140] According to some embodiments, the LIDAR system 100 may further include an optical system 222 (e.g., a quarter-wave retarder) for changing the polarization of the emitted light. For example, the optical system 222 can change the linear polarization of the emitted light beam to circular polarization. Light reflected from the field of view back to the system 100 passes through the polarizer 114 to the optical system 222 and is circularly polarized opposite to the transmitted light. The optical system 222 then converts the received opposite-circularly polarized light to linearly polarized light that is not aligned with the polarizing beam splitter 216. As noted above, the received light portion is larger than the transmitted light portion due to optical dispersion of the beam as it travels the distance to the target.

[0068]

[0141] A portion of the received light is incident on the unidirectional deflector 220, which reflects the light with some power loss towards the sensor 106. However, another portion of the received light is incident on a reflective surface 218 (e.g., a slit in a polarizing beam splitter) surrounding the unidirectional deflector 220. The reflective surface 218 reflects the light with substantially no power loss towards the detection unit 106. The unidirectional deflector 220 reflects light composed of various polarization axes and directions, which ultimately reaches the detector. Optionally, the detection unit 106 may include a sensor 116 that is independent of laser polarization and is primarily sensitive to the amount of incident photons in a specific wavelength range.

[0069]

[0142] It should be noted that the proposed asymmetric deflector 216 offers much better performance than a simple mirror with a through-hole. In a mirror with a hole, all reflected light that reaches the hole is lost to the detector. However, in the deflector 216, the unidirectional deflector 220 deflects a significant portion of that light (e.g., about 50%) toward each sensor 116. In a LIDAR system, the number of photons that reach the LIDAR from a remote distance is very limited, so improving the photon capture rate is important.

[0070]

[0143] According to some embodiments, a device for beam splitting and steering is described. A polarized beam can be emitted from a light source having a first polarization. The emitted beam can be directed to pass through a polarizing beam splitter assembly. The polarizing beam splitter assembly includes a one-way slit on a first side and a mirror on the opposite side. The one-way slit can transmit the emitted polarized beam toward a quarter-wave retarder. The quarter-wave retarder changes the emitted signal from a polarized signal to a linear signal (or vice versa), thereby preventing the reflected beam from subsequently passing through the one-way slit.

[0071] Scan Unit

[0144] 3A-3D illustrate various configurations of the scan unit 104 and its role in the LIDAR system 100. Specifically, FIG. 3A illustrates a scan unit 104 with a MEMS mirror (e.g., square), FIG. 3B illustrates a scan unit 104 with a MEMS mirror (e.g., circular), FIG. 3C illustrates a scan unit 104 with an array of reflectors used in a monostatic scanning LIDAR system, and FIG. 3D illustrates an example LIDAR system 100 that mechanically scans the environment around the LIDAR system 100. Those skilled in the art will recognize that the illustrated configurations of the scan unit 104 are merely exemplary and that many variations and modifications are possible within the scope of the present disclosure.

[0072]

[0145] FIG. 3A illustrates an exemplary scan unit 104 including a single-axis rectangular MEMS mirror 300. In this example, the MEMS mirror 300 functions as at least one deflector 114. As shown, the scan unit 104 can include one or more actuators 302 (specifically, actuators 302A and 302B). In one embodiment, the actuators 302 can be fabricated from a semiconductor (e.g., silicon) and include a piezoelectric layer (e.g., PZT, titanate zirconate, aluminum nitride) that changes dimensions in response to an electrical signal applied by an actuation controller, a semiconductor layer, and a base layer. In one embodiment, the physical properties of the actuators 302 can determine the mechanical stress applied to the actuator 302 when a current is passed through them. When the piezoelectric material is activated, it exerts a force on the actuator 302, causing it to bend. In one embodiment, the resistivity of one or more actuators 302 in an active state (Ractive) when the mirror 300 is deflected to a particular angular position can be measured and compared to the resistivity in a resting state (Rrest). Feedback including Ractive provides information to determine the actual mirror deflection angle compared to the expected angle, allowing for correction of the mirror 300 deflection as needed. The difference between Rrest and Ractive can be correlated to the mirror drive to an angular deflection value, which can serve to close the loop. This embodiment can be used for dynamic tracking of the actual mirror position to optimize response, amplitude, deflection efficiency, and frequency in both linear and resonant mode MEMS mirror schemes. This embodiment is described in more detail below with reference to Figures 32-34.

[0073]

[0146] During scanning, current can flow from contact 304A to contact 304B (through actuator 302A, spring 306A, mirror 300, spring 306B, and actuator 302B) (represented by the dashed line in the figure). Due to insulating gaps in the semiconductor frame 308, such as insulating gap 310, actuators 302A and 302B can become two separate islands electrically connected through spring 306 and frame 308. The current, or any associated electrical parameters (voltage, current frequency, capacitance, dielectric constant, etc.), can be monitored with associated position feedback. In the event of a mechanical failure that damages one of the components, the current flowing through the structure will change and deviate from its functional calibration value. In extreme situations (e.g., if the spring breaks), the current flow will be completely interrupted due to the electrical chain being interrupted by the failed element.

[0074]

[0147] FIG. 3B illustrates another exemplary scan unit 104 including a two-axis circular MEMS mirror 300. In this example, the MEMS mirror 300 functions as at least one deflector 114. In one embodiment, the MEMS mirror 300 may have a diameter between approximately 1 mm and approximately 5 mm. As shown, the scan unit 104 may include four actuators 302 (302A, 302B, 302C, and 302D), each of which may be of different lengths. In the illustrated example, current (represented by a dashed line in the figure) flows from contact 304A to contact 304D; however, in other cases, current may flow from contact 304A to contact 304B, from contact 304A to contact 304C, from contact 304B to contact 304C, from contact 304B to contact 304D, or from contact 304C to contact 304D. According to some embodiments, the two-axis MEMS mirror can be configured to deflect light in both horizontal and vertical directions. For example, the deflection angle of the dual-axis MEMS mirror may be between approximately 0° and 30° vertically and between approximately 0° and 50° horizontally. Those skilled in the art will recognize that the illustrated configuration of mirror 300 can have many variations and modifications. In one example, at least deflector 114 can include a dual-axis square mirror or a single-axis circular mirror. Examples of circular and square mirrors are shown in FIGS. 3A and 3B by way of example only. Any shape can be employed depending on the system specifications. In one embodiment, actuator 302 is incorporated as an integral part of at least deflector 114 to directly provide power to move MEMS mirror 300. Furthermore, MEMS mirror 300 can be connected to frame 308 by one or more rigid support elements. In another embodiment, at least deflector 114 can include an electrostatic or electromagnetic MEMS mirror.

[0075]

[0148] As described above, a monostatic scanning LIDAR system utilizes at least a portion of the same optical path for emitting projected light 204 and receiving reflected light 206. The light beam on the outbound path may be collimated and focused into a narrow beam, while the reflection on the return path spreads out into a larger light portion due to dispersion. In one embodiment, the scan unit 104 may have a large reflective area in the return path and may include an asymmetric deflector 216 that redirects the reflection (i.e., reflected light 206) toward the sensor 116. In one embodiment, the scan unit 104 may include a MEMS mirror with a large reflective area, with negligible impact on field of view and frame rate performance. Further details regarding the asymmetric deflector 216 are provided below with reference to FIG. 2D .

[0076]

[0149] In some embodiments (e.g., as illustrated in FIG. 3C ), the scan unit 104 may include a deflector array (e.g., a reflector array) with small optical deflectors (e.g., mirrors). In one embodiment, the optical deflector 114 is implemented as a group of small individual optical deflectors operating synchronously, allowing the optical deflector 114 to perform at larger deflection angles and higher scan rates. The deflector array can effectively function as a large optical deflector (e.g., a large mirror) in terms of active area. The deflector array can be operated using a shared steering assembly configuration. This configuration allows the sensor 116 to collect reflected photons from substantially the same portion of the field of view 120 that is simultaneously illuminated by the light source 112. The term “simultaneously” means that two selected functions occur during coincident or overlapping time periods, where one begins and ends during the duration of the other, or where one begins before the other is completed.

[0077]

[0150] 3C illustrates an example of a scanning unit 104 that includes a reflector array 312 with small mirrors. In this embodiment, the reflector array 312 functions as at least one deflector 114. The reflector array 312 may include multiple reflector units 314 configured to pivot (individually or together) and direct light pulses toward the field of view 120. For example, the reflector array 312 may be part of the outbound path of light projected from the light source 112. Specifically, the reflector array 312 may direct the projected light 204 toward a portion of the field of view 120. The reflector array 312 may also be part of the return path of light reflected from the surface of an object located within the illuminated portion of the field of view 120. Specifically, the reflector array 312 may direct the reflected light 206 toward the sensor 116 or toward the asymmetric deflector 216. In one example, the reflector array 312 has an area of ​​about 75 to about 150 mm 2 Here, each reflector unit 314 has a width of about 10 μm, and the support structure can be lower than 100 μm.

[0078]

[0151] According to some embodiments, the reflector array 312 may include one or more subgroups of electrically steerable deflectors. Each subgroup of electrically steerable deflectors The loop may include one or more deflector units, such as reflector unit 314. For example, each steerable deflector unit 314 may include at least one of a MEMS mirror, a reflective surface assembly, and an electromechanical actuator. In one embodiment, each reflector unit 314 may be individually controlled by a respective processor (not shown) to tilt at a particular angle along each of one or more separate axes. Alternatively, the reflector array 312 may be associated with a common controller (e.g., processor 118) configured to synchronize and manage the movement of the reflector units 314 such that at least some of the reflector units 314 pivot simultaneously to point in approximately the same direction.

[0079]

[0152] Additionally, the at least one processor 118 may select at least one reflector unit 314 for the outbound path (hereinafter referred to as a "transmit mirror") and a group of reflector units 314 for the return path (hereinafter referred to as a "receive mirror"). In accordance with the present disclosure, increasing the number of transmit mirrors may increase the spread of the reflected photon beam. Furthermore, reducing the number of receive mirrors may narrow the receive field, compensate for ambient light conditions (e.g., clouds, rain, fog, extreme heat, and other environmental conditions), and improve the signal-to-noise ratio. Also, as noted above, the emitted light beam is typically thinner than the reflected light portion and therefore can be adequately detected by a smaller portion of the deflector array. Furthermore, light reflected from the portion of the deflector array used for transmission (e.g., a transmit mirror) may be blocked from reaching the sensor 116, thereby reducing the effect of internal reflections in the LIDAR system 100 on system operation. The at least one processor 118 can also pivot one or more reflector units 314 to overcome mechanical disturbances and drift due to, for example, thermal and gain effects. In one example, one or more reflector units 314 may move differently than intended (frequency, rate, speed, etc.), but these movements can be compensated for by appropriately electronically controlling the deflectors.

[0080]

[0153] 3D illustrates an exemplary LIDAR system 100 that mechanically scans its environment. In this example, the LIDAR system 100 may include a motor or other mechanism for rotating the housing 200 about an axis of the LIDAR system 100. Alternatively, the motor (or other mechanism) may mechanically rotate a rigid structure of the LIDAR system 100, on which the one or more light sources 112 and one or more sensors 116 are mounted, thereby scanning the environment. As described above, the projection unit 102 may include at least one light source 112 configured to project optical emissions. The projected optical emissions may travel along an outbound path toward the field of view 120. Specifically, when the projection light 204 travels toward the optional optical window 124, the projected optical emissions may be reflected by the deflector 114A and pass through the exit aperture 314. The reflected optical emissions may travel from the object 208 along a return path toward the detection unit 106. For example, if the reflected light 206 travels towards the sensing unit 106, the reflected light 206 is reflected by the deflector 114B. It will be appreciated by those skilled in the art that a LIDAR system that includes a rotation mechanism for synchronously rotating one or more light sources or one or more sensors may use this synchronous rotation instead of (or in addition to) steering an internal optical deflector.

[0081]

[0154] In embodiments in which the scanning of the field of view 120 is mechanical, the projected optical emissions can be directed to an exit aperture 314 that is part of a wall 316 that separates the projection unit 102 from other portions of the LIDAR system 100. In some examples, the wall 316 can be formed of a transparent material (e.g., glass) covered with a reflective material to form the deflector 114B. In this example, the exit aperture 314 can correspond to the portion of the wall 316 that is not covered with the reflective material. Additionally or alternatively, the exit aperture 314 can include a hole or cut in the wall 316. The reflected light 206 can be reflected by the deflector 114B and directed toward an entrance aperture 318 of the detection unit 106. In some examples, the entrance aperture 318 can include a filter window configured to allow wavelengths within a certain wavelength range to enter the detection unit 106 while attenuating other wavelengths. The reflection of the object 208 from the field of view 120 may be reflected by the deflector 114B and incident on the sensor 116. By comparing some properties of the reflected light 206 with the projected light 204, at least one aspect of the object 208 may be determined. For example, by comparing the time when the projected light 204 was emitted by the light source 112 and the time when the sensor 116 received the reflected light 206, the distance between the object 208 and the LIDAR system 100 may be determined. In some examples, other aspects of the object 208, such as the shape, color, or material, may also be determined.

[0082]

[0155] In some examples, the LIDAR system 100 (or a portion thereof including at least one light source 112 and at least one sensor 116) can be rotated about at least one axis to determine a three-dimensional map of the surroundings of the LIDAR system 100. For example, to scan the field of view 120, the LIDAR system 100 can be rotated about a substantially vertical axis, as indicated by arrow 320. While FIG. 3D illustrates rotating the LIDAR system 100 clockwise about the axis, as indicated by arrow 320, the LIDAR system 100 can additionally or alternatively be rotated counterclockwise. In some examples, the LIDAR system 100 can be rotated 360 degrees about the vertical axis. In other examples, the LIDAR system 100 can be rotated back and forth along a sector that is less than 360 degrees of the LIDAR system 100. For example, the LIDAR system 100 can be mounted on a platform that rocks back and forth about an axis without performing a complete rotation.

[0083] Detection Unit

[0156] 4A-4E illustrate various configurations of the sensing unit 106 and their roles in the LIDAR system 100. Specifically, FIG. 4A illustrates an exemplary sensing unit 106 with a detector array, FIG. 4B illustrates monostatic scanning using a two-dimensional sensor, FIG. 4C illustrates an example two-dimensional sensor 116, FIG. 4D illustrates a lens array associated with the sensor 116, and FIG. 4E includes three diagrams illustrating lens configurations. Those skilled in the art will recognize that the sensing unit 106 configurations shown are merely exemplary and may have many alternative variations and modifications consistent with the principles of the present disclosure.

[0084]

[0157] 4A shows an example of a sensing unit 106 with a detector array 400. In this example, at least one sensor 116 includes the detector array 400. The LIDAR system 100 is configured to detect objects (e.g., a bicycle 208A and a cloud 208B) within a field of view 120 located at different distances from the LIDAR system 100 (which may be several meters or more). The objects 208 may be solid objects (e.g., a road, a tree, a car, a person), fluid objects (e.g., fog, water, atmospheric particles), or other types of objects (e.g., dust or irradiated powdery objects). When photons emitted from the light source 112 strike the object 208, the photons are reflected, refracted, or absorbed. Typically, only a portion of the photons reflected from the object 208A enter the optional optical window 124, as shown in the figure. Since a change in distance of up to 15 cm will result in a travel time difference of 1 ns (as photons travel at the speed of light to and from object 208), the time difference in the travel times of different photons hitting different objects may be detectable by an optical timing sensor with a sufficiently fast response.

[0085]

[0158] The sensor 116 includes multiple detector elements 402 for detecting photons of the photon pulses reflected back from the field of view 120. All of the detector elements may be included in a detector array 400, which may have a rectangular arrangement (e.g., as shown) or any other arrangement. The detector elements 402 may operate simultaneously or partially simultaneously. Specifically, each detector element 402 may provide detection information every sampling period (e.g., every 1 nanosecond). In one example, the detector array 400 may be a silicon photomultiplier (SiPM), a solid-state single-photon sensing device constructed from an array of single-photon avalanche diodes (SPADs, which function as detector elements 402) on a common silicon substrate. Similar photomultipliers made of other non-silicon materials may also be used. Although the SiPM device operates in a digital / switching mode, it is an analog device because all microcells are read out in parallel, allowing signals to be generated within a dynamic range from a single photon to hundreds and thousands of photons detected by different SPADs. As mentioned above, more than one type of sensor may be implemented (e.g., SiPM and APD). In some cases, the sensing unit 106 includes at least one APD integrated into the SiPM array and / or at least one APD detector positioned adjacent to the SiPMs, on a separate or common silicon substrate.

[0086]

[0159] In one embodiment, the detector elements 402 can be grouped into multiple regions 404. These regions are geometric locations or environments within the sensor 116 (e.g., within the detector array 400) and can be formed in a variety of shapes (e.g., rectangular, square, annular, etc., as shown, or any other shape). Not all of the individual detectors contained within the geometric area of ​​a region 404 belong to that region, but in most cases, they do not belong to other regions 404 that cover other areas of the sensor 310, unless some overlap at the boundaries between regions is desired. As shown in FIG. 4A, these regions can be non-overlapping regions 404, but they can also overlap. Every region can have an associated region output circuit 406. The region output circuit 406 can provide a region output signal for the corresponding group of detector elements 402. For example, the region output circuit 406 can be a summing circuit, although other forms of combining the outputs of each detector into a single output (whether scalar, vector, or any other format) can also be employed. Optionally, each region 404 is a single SiPM, but this is not necessarily the case; a region may be a small portion of a single SiPM, a group of several SiPMs, or a combination of different types of detectors.

[0087]

[0160] In the illustrated example, the processing unit 108 is located in a separate housing 200B (inside or outside of) the host 210 (e.g., in the vehicle 110), and the sensing unit 106 may include a dedicated processor 408 for analyzing the reflected light. Alternatively, the processing unit 108 may be used to analyze the reflected light 206. It should be noted that the LIDAR system 100 can be implemented in multiple housings in ways different from the illustrated example. For example, the optical deflector 114 may be located in a different housing from the projection unit 102 and / or the sensing module 106. In one embodiment, the LIDAR system 100 can include multiple housings connected to each other in different ways, such as by electrical wire connections, wireless connections (e.g., RF connections), fiber optic cables, and any combination of the above.

[0088]

[0161] In one embodiment, analyzing the reflected light 206 may include determining the time-of-flight of the reflected light 206 based on the outputs of individual detectors in different regions. Optionally, the processor 408 may be configured to determine the time-of-flight of the reflected light 206 based on the output signals of multiple regions. In addition to the time-of-flight, the processing unit 108 may analyze the reflected light 206 to determine the average power over the entire return pulse and the photon distribution / signal ("pulse shape") during the return pulse. In the illustrated example, the output of any detection element 402 is not sent directly to the processor 408, but may be combined (e.g., summed) with signals from other detectors in the region 404 before being passed to the processor 408. However, this is merely an example, and the circuitry of the sensor 116 may also send information from the detection elements 402 to the processor 408 via other routes (e.g., without passing through the region output circuitry 406).

[0089]

[0162] FIG. 4B illustrates a LIDAR system 100 configured to scan its environment using a two-dimensional sensor 116. In the example of FIG. 4B, the sensor 116 is a 4×6 matrix of detectors 410 (also referred to as “pixels”). In one embodiment, the pixel size may be approximately 1×1 mm. The sensor 116 is two-dimensional in the sense that it has two or more sets (e.g., rows, columns) of detectors 410 in two non-parallel axes (e.g., orthogonal axes as shown in the illustrated example). The number of detectors 410 in the sensor 116 may vary in various implementations depending, for example, on the desired resolution, signal-to-noise ratio (SNR), desired detection distance, etc. For example, the sensor 116 may have anywhere from 5 to 5,000 pixels. In another example (not shown), the sensor 116 may be a one-dimensional matrix (e.g., 1×8 pixels).

[0090]

[0163] Each detector 410 may include multiple detector elements 402, such as avalanche photodiodes (APDs), single-photon avalanche diodes (SPADs), a combination of avalanche photodiodes (APDs) and single-photon avalanche diodes (SPADs), or detector elements that measure both the time of flight from a laser pulse transmit event to a receive event and the intensity of the received photon. For example, each detector 410 may include anywhere from 20 to 5,000 SPADs. The outputs of the detector elements 402 in each detector 410 may be summed, averaged, or otherwise combined to provide an integral pixel output.

[0091]

[0164] In the illustrated example, the sensing unit 106 may include a two-dimensional sensor 116 (or multiple two-dimensional sensors 116) having a field of view smaller than the field of view 120 of the LIDAR system 100. For purposes of this discussion, the field of view 120 (the entire field of view that can be scanned by the LIDAR system 100 without moving, rotating, or rolling in any direction) will be referred to as the "first FOV 412," and the smaller field of view of the sensor 116 will be referred to as the "second FOV 412" (which can alternatively be referred to as the "instantaneous FOV"). The coverage of the second FOV 414 relative to the first FOV 412 will vary depending on the specific application of the LIDAR system 100 and may be, for example, between 0.5% and 50%. In one example, the second FOV 412 may be vertically elongated between 0.05° and 1°. Even if the LIDAR system 100 includes two or more two-dimensional sensors 116, the combined field of view of those sensor arrays may still be smaller than the first FOV 412, for example, at least 5 times, at least 10 times, at least 20 times, or at least 50 times smaller.

[0092]

[0165] To cover the first FOV 412, the scanning unit 106 can direct photons arriving from different parts of the environment at different times to the sensor 116. In the illustrated monostatic configuration, while directing the projected light 204 towards the field of view 120, the scanning unit 106 can direct the reflected light 206 to the sensor 116 when the at least one deflector 114 is positioned at an instantaneous position. Typically, at each time during the scanning of the first FOV 412, the light beam emitted by the LIDAR system 100 covers a portion of the environment that is larger (in terms of angular aperture) than the second FOV 414 and includes the portions of the environment that are collected by the scanning unit 104 and the sensor 116.

[0093]

[0166] FIG. 4C illustrates an example of a two-dimensional sensor 116. In this embodiment, the sensor 116 is an 8×5 matrix of detectors 410, each of which includes multiple detector elements 402. In one example, detector 410A is located in the second row (labeled “R2”) and third column (labeled “C3”) of the sensor 116 and includes a 4×3 matrix of detector elements 402. In another example, detector 410B is located in the fourth row (labeled “R4”) and sixth column (labeled “C6”) of the sensor 116 and includes a 3×3 matrix of detector elements 402. Thus, the number of detector elements 402 in each detector 410 may be constant or may vary, and different detectors 410 in a common array may have different numbers of detector elements 402. The outputs of all of the detector elements 402 in each detector 410 may be summed, averaged, or otherwise combined to provide a single pixel output value. Although the detectors 410 in the example of FIG. 4C are arranged in a rectangular matrix (linear rows and linear columns), other arrangements may also be used, such as a circular arrangement or a honeycomb arrangement.

[0094]

[0167] According to some embodiments, measurements from each detector 410 allow for the determination of the time of flight from a light pulse emission event to a reception event and the intensity of the received photon. The reception event may be the result of a light pulse being reflected from an object 208. The time of flight may be a timestamp value representing the distance from the reflecting object to the optional optical window 124. The time of flight value may be calculated using photon detection and counting methods such as Time Correlated Single Photon Counter (TCSPC), analog photon detection methods such as signal integration and qualification (analog-to-digital conversion), and the like. or by a simple comparator), or by other methods.

[0095]

[0168] In some embodiments, and with reference to FIG. 4B , during a scan cycle, each instantaneous position of at least one optical deflector 114 can be associated with a specific portion 122 of the field of view 120. The design of the sensor 116 allows for association of reflected light from a single portion of the field of view 120 with multiple detectors 410. Thus, the scanning resolution of the LIDAR system can be expressed as the number of instantaneous positions (per scan cycle) multiplied by the number of detectors 410 in the sensor 116. The information from each detector 410 (i.e., each pixel) represents a basic data element upon which the captured field of view in three-dimensional space is constructed. This includes, for example, the basic elements of a point cloud representation, with spatial location and associated reflected intensity values. In one embodiment, reflections from a single portion of the field of view 120 detected by multiple detectors 410 may be returned from various objects located within that single portion of the field of view 120. For example, a single portion of the field of view 120 may be larger than 50×50 cm in the far field and may easily include two, three, or more objects partially overlapping each other.

[0096]

[0169] FIG. 4D is a cross-sectional view of a portion of a sensor 116 according to an example of the presently disclosed subject matter. The depicted portion of the sensor 116 includes a portion of a detector array 400 including four detector elements 402 (e.g., four SPADs, four APDs). The detector array 400 may be a photodetector sensor implemented in complementary metal-oxide semiconductor (CMOS). Each of the detector elements 402 has a sensing area positioned within a substrate periphery. Although not necessarily required, the sensor 116 may be used in a monostatic LiDAR system with a narrow field of view (e.g., because the scanning unit 104 scans different portions of the field of view at different times). A narrow field of view for the incident light beam, if implemented, eliminates the problem of out-of-focus imaging. As illustrated in FIG. 4D, the sensor 116 may include multiple lenses 422 (e.g., microlenses), each capable of directing incident light toward a different detector element 402 (e.g., toward the active area of ​​the detector element 402), which may be usable when out-of-focus imaging is not an issue. Lens 422 is used to increase the optical fill factor and sensitivity of detector array 400, as most of the light reaching sensor 116 can be deflected towards the active area of ​​detector element 402. It is possible.

[0097]

[0170] A detector array 400, such as that illustrated in FIG. 4D, can include several layers embedded in a silicon substrate by various methods (e.g., implants) to provide a sensing area, contact elements to metal layers, and insulating elements (e.g., shallow trench implant (STI), guard rings, optical trenches, etc.). The sensing area is the volumetric element in a CMOS detector, allowing the optical conversion of incident photons into electrical current when the proper voltage bias is applied to the device. In the case of an APD / SPAD, the sensing area, through a combination of electric fields, pulls electrons generated by photon absorption toward the multiplication area, where the photon-induced electrons are amplified, causing an avalanche breakdown of the multiplied electrons.

[0098]

[0171] A front-side illuminated detector (e.g., as shown in FIG. 4D ) has an input optical port on the same side as the metal layer overlying the semiconductor (silicon). The metal layer must provide electrical connections between the individual photodetector elements (e.g., anodes and cathodes) and various elements such as bias voltages, quenching / ballast elements, and other photodetectors in a common array. The optical port through which photons enter the detector's sensing area consists of a passage through the metal layer. It should be noted that the passage of light from some directions through this passage may be blocked by one or more metal layers (e.g., metal layer ML6 shown on the left-most detector element 402 in FIG. 4D ). Such blocking reduces the detector's overall light absorption efficiency.

[0099]

[0172] 4E illustrates three detector elements 402, each with an associated lens 422, in accordance with an example of the presently disclosed subject matter. Each of the three detector elements in FIG. 4E, labeled 402(1), 402(2), and 402(3), illustrates a lens configuration that may be implemented in association with one or more of the detector elements 402 of sensor 116. It should be noted that combinations of these lens configurations may also be implemented.

[0100]

[0173] In the lens configuration illustrated for detector element 402(1), the focal point of the associated lens 422 can be located above the semiconductor surface. Optionally, the apertures in different metal layers of the detector element can have different sizes that match the cone of focused light produced by the associated lens 422. Such a structure can improve the signal-to-noise ratio and resolution of the array 400 as a whole device. Large metal layers can be important for power transmission and ground shielding. This approach can be useful, for example, in monostatic LiDAR designs with narrow fields of view, where the incident light beam consists of parallel rays and the imaging focal point has no effect on the detection signal.

[0101]

[0174] The lens configuration illustrated for detection element 402(2) can improve the efficiency of photon detection by detection element 402 by identifying a sweet spot. Specifically, a photodetector implemented in CMOS can have a sweet spot within the detection volume where photons have the highest probability of avalanching. Thus, as exemplified for detection element 402(2), the focal point of lens 422 can be positioned at a sweet spot location within the detection volume. The lens shape and distance from the focal point can take into account the refractive index of all elements traversed by the laser beam along a path from the lens to the detection sweet spot location embedded within the semiconductor material.

[0102]

[0175] The lens configuration shown for the detector element on the right in FIG. 4E can use a diffuser and a reflective element to improve the efficiency of photon absorption in semiconductor materials. Specifically, near-IR wavelengths require a significantly longer path through silicon material to achieve a high absorption probability for photons traveling this path. In a typical lens configuration, photons may traverse the detection area and potentially be absorbed without generating detectable electrons. The long absorption path, which improves the probability that a photon will generate an electron, results in detection area sizes (e.g., tens of microns) that are impractical for CMOS devices fabricated using typical manufacturing processes. The rightmost detector element in FIG. 4E illustrates a technique for processing incident photons. An associated lens 422 focuses incident light onto a diffuser element 424. In one embodiment, the light sensor 116 can further include a diffuser located in a gap away from at least some of the outer surfaces of the detector. For example, the diffuser 424 can direct the light beam laterally (e.g., possibly vertically) toward the detection area and the reflective optical trench 426. The diffuser may be located at the focal point, above the focal point, or below the focal point. In this embodiment, incident light may be focused onto the specific location where the diffuser element is located. Optionally, the detector element 422 is designed to optically avoid inactive areas where photon-induced electrons may be lost, reducing effective detection efficiency. The reflective optical trench 426 (or other form of optically reflective structure) steers photons back and forth within the sensing area, thereby increasing the likelihood of detection. Ideally, photons are trapped within the cavity consisting of the sensing area and the reflective trench indefinitely until they are absorbed and generate electron-hole pairs.

[0103]

[0176] In accordance with the present disclosure, a long path is created to absorb incoming photons, contributing to a high probability of detection. Optical trenches can also be implemented in the detection elements 422 to reduce the crosstalk effect of parasitic photons in the avalanche that can leak to other detectors and generate false detection events. According to some embodiments, photodetector arrays can be optimized to take advantage of a higher yield of received signals, i.e., to receive as much received signal as possible and lose as little signal due to internal signal degradation. Photodetector arrays can be improved by (a) moving the focal point to a location above the semiconductor surface, optionally by appropriately designing a metal layer above the substrate; (b) steering the focal point to the most responsive / sensitive area of ​​the substrate (i.e., the "sweet spot"); (c) adding a diffuser above the substrate to direct the signal toward the "sweet spot"; and / or adding reflective material to the trench to reflect deflected signals back to the "sweet spot."

[0104]

[0177] It should be noted that in some lens configurations, the lens 422 may be positioned so that its focal point is above the center of the corresponding detector element 402, but this is not necessarily the case. In other lens configurations, the location of the focal point of the lens 422 relative to the center of the corresponding detector element 402 is shifted based on the distance of each detector element 402 from the center of the detector array 400. This can be useful in relatively large detector arrays 400 where detector elements further from the center receive light at angles that are more off-axis. Shifting the location of the focal point (e.g., toward the center of the detector array 400) allows for correction of the angle of incidence. Specifically, shifting the location of the focal point (e.g., toward the center of the detector array 400) allows for correction of the angle of incidence while using substantially the same lens 422 for all detector elements positioned at the same angle relative to the detector surface.

[0105]

[0178] Adding an array of lenses 422 to an array of detector elements 402 can be useful when using a relatively small sensor 116 that covers only a small portion of the field of view. In such cases, the reflected signals from the scene reach the detector array 400 from substantially the same angle, so all of the light can be easily focused onto an individual detector. Also, in one embodiment, the detection of the entire array 400 can be achieved at the expense of spatial distinctiveness. To facilitate increased probability (preventing photons from being "wasted" in dead areas between detectors / sub-detectors), a lens 422 may be used in the LIDAR system 100. This embodiment differs from conventional implementations such as CMOS RGB cameras that prioritize spatial differentiation (i.e., light propagating in the direction of detector element A cannot be directed by a lens toward detector element B, i.e., it cannot "bleed" to another detector element in the array). Optionally, sensor 116 includes an array of lenses 422, each correlated to a corresponding detection element 402, with at least one of lenses 422 deflecting light propagating to a first detection element 402 toward a second detection element 402 (which can increase the probability of detection across the array).

[0106]

[0179] Specifically, according to some embodiments of the present disclosure, the optical sensor 116 can include an array of photodetectors (e.g., detector array 400), with each photodetector (e.g., detector 410) configured to generate a current when light passes through an outer surface of the detector. Additionally, the optical sensor 116 can include at least one microlens configured to direct light toward the array of photodetectors, with the at least one microlens having a focal point. The optical sensor 116 can further include at least one layer of conductive material interposed between the at least one microlens and the array of photodetectors and having a gap for passing light from the at least one microlens to the array, with the at least one layer sized to maintain a space between the at least one microlens and the array and positioning the focal point (e.g., the focal point can be a plane) within the gap at a location spaced apart from the detection surface of the array of photodetectors.

[0107]

[0180] In a related embodiment, each detector may include multiple single-photon avalanche diodes (SPADs) or multiple avalanche photodiodes (APDs). The conductive material may be a multi-layer metal constriction, and at least one layer of conductive material may be electrically connected to the detectors in the array. In one example, the at least one layer of conductive material includes multiple layers. Furthermore, the gap may be shaped to converge from the at least one microlens toward a focal point and diverge from the focal area toward the array. In another embodiment, the photosensor 116 may further include at least one reflector adjacent to each photodetector. In one embodiment, multiple microlenses may be arranged in a lens array, and multiple detectors may be arranged in a detector array. In another embodiment, the multiple microlenses may include a single lens configured to project light onto multiple detectors in the array.

[0108] Processing Unit

[0181] 5A-5C illustrate various functions of processing unit 108 according to some embodiments of the present disclosure. Specifically, FIG. 5A illustrates the emission pattern of a single portion of the field of view within a single frame time, FIG. 5B illustrates the emission scheme of the entire field of view within a single frame time, and FIG. 5C illustrates the actual light emission projected towards the field of view during a single scan cycle.

[0109]

[0182] 5A shows four examples of emission patterns within a single frame time of a single portion 122 of the field of view 120 associated with the instantaneous position of the at least one optical deflector 114. According to an embodiment of the present disclosure, the processing unit 108 may control the at least one light source 112 and the optical deflector 114 (or coordinate the operation of the at least one light source 112 and the at least one optical deflector 114) to vary the light flux in scanning the field of view 120. According to other embodiments, the processing unit 108 may control only the at least one light source 112, and the optical deflector 114 may move or pivot in a fixed, predetermined pattern.

[0110]

[0183] Diagrams A to D of FIG. 5A show the power of light emitted toward a single portion 122 of the field of view 120 over time. In diagram A, the processor 118 can control the operation of the light source 112 so that an initial light emission is projected toward the portion 122 of the field of view 120 during scanning of the field of view 120. If the projection unit 102 includes a pulsed light source, the initial light emission may include one or more initial pulses (also referred to as "pilot pulses"). The processing unit 108 can receive pilot information about reflections associated with the initial light emission from the sensor 116. In one embodiment, the pilot information may be represented as a single signal based on the output of one or more detectors (e.g., one or more SPADs, one or more APDs, one or more SiPMs, etc.) or as multiple signals based on the output of multiple detectors. In one example, the pilot information may include analog and / or digital information. In another example, the pilot information may include a single value and / or multiple values ​​(e.g., at different times and / or different portions of the segment).

[0111]

[0184] Based on information about the reflection associated with the initial light emission, processing unit 108 can be configured to determine a type of light emission to subsequently project toward portion 122 of field of view 120. The subsequent light emission determined for a particular portion of field of view 120 can be performed during the same scan cycle (i.e., in the same frame) or in a subsequent scan cycle (i.e., in a subsequent frame). This embodiment is described in further detail below with reference to Figures 23-25.

[0112]

[0185] In FIG. 1B, the processor 118 can control the operation of the light source 112 so that light pulses of different intensities are projected toward a single portion 122 of the field of view 120 during a scan of the field of view 120. In one embodiment, the LIDAR system 100 can be operable to generate one or more different types of depth maps, such as a point cloud model, a polygon mesh, a depth image (which retains depth information for each pixel or 2D array of an image), or any other type of 3D model of a scene. The sequence of depth maps can be a time series in which different depth maps are generated at different times. Each depth map in the sequence associated with a scan cycle (which can also be referred to as a "frame") can be generated within a corresponding subsequent frame time period. In one example, a typical frame time can last less than one second. In some embodiments, the LIDAR system 100 has a fixed frame rate (e.g., 10 frames per second, 25 frames per second, 50 frames per second), or the frame rate can be dynamic. In other embodiments, the frame times of different frames in the sequence may not be identical. For example, the LIDAR system 100 may implement a rate of 10 frames per second, producing a first depth map in (on average) 100 milliseconds, a second frame in 92 milliseconds, a third frame in 142 milliseconds, etc.

[0113]

[0186] In Figure C, the processor 118 can control the operation of the light source 112 so that light pulses associated with different durations are projected toward a single portion 122 of the field of view 120 during scanning of the field of view 120. In one embodiment, the LIDAR system 100 can be operable to generate a different number of pulses in each frame. The number of pulses can vary between 0 and 32 pulses (e.g., 1, 5, 12, 28, or more pulses) and can be based on information obtained from previous emissions. The time between light pulses depends on the desired detection range and can be between 500 ns and 5000 ns. In one example, the processing unit 108 can receive information from the sensor 116 about the reflection associated with each light pulse. Based on this information (or lack of information), the processing unit 108 can determine whether additional light pulses are needed. It should be noted that the durations of the processing and emission times in Figures A through D are not to scale. Specifically, the processing time can be significantly longer than the emission time. In Figure D, the processing unit 102 can include a continuous wave light source. In one embodiment, the initial light emission comprises a period of time during which light is emitted, and the subsequent emissions may be continuous or discontinuous to the initial light emission, hi one embodiment, the intensity of the subsequent emissions may vary over time.

[0114]

[0187] According to some embodiments of the present disclosure, an emission pattern can be determined for each portion of the field of view 120. In other words, the processor 118 can control the light emission to allow for differentiated illumination of different portions of the field of view 120. In one example, the processor 118 can determine the emission pattern for a single portion 122 of the field of view 120 based on detection of reflected light from the same scan cycle (e.g., initial emission). This makes the LIDAR system 100 highly dynamic. In another example, the processor 118 can determine the emission pattern for a single portion 122 of the field of view 120 based on detection of reflected light from a previous scan cycle. Differences in the pattern of subsequent emissions can be created by determining different values ​​for light source parameters, such as any one of the following, for subsequent emissions: a. The total energy of the subsequent emissions b. Energy profile of subsequent emissions c. Optical pulse repetition rate per frame d. Optical modulation characteristics such as duration, rate, peak and average power, and pulse shape e. Wave properties of subsequent emissions, such as polarization and wavelength

[0115]

[0188] In accordance with the present disclosure, differentiation of subsequent emissions can be used for different purposes. In one example, emission power levels can be limited in portions of the field of view 120 where safety is a consideration, while higher power levels can be emitted in other portions of the field of view 120 (thereby improving the signal-to-noise ratio and detection range). This relates to eye safety, but may also relate to skin safety, optical system safety, sensing material safety, and more. In another example, based on detection results from the same or previous frames, more energy can be directed toward more informative portions of the field of view 120 (e.g., regions of interest, distant targets, low-reflectivity targets, etc.), while limiting the illumination energy in other portions of the field of view 120. It should be noted that the processing unit 108 can process detection signals from a single instantaneous field of view several times within a single scan frame time. For example, subsequent emissions can be determined after each pulse emission, or after a certain number of pulses emission.

[0116]

[0189] 5B shows three example emission schemes for a single frame time of the field of view 120. According to embodiments of the present disclosure, at least the processing unit 108 can use the acquired information to dynamically adjust the operating mode of the LIDAR system 100 and / or determine parameter values ​​for certain components of the LIDAR system 100. The acquired information can be determined from processed data captured in the field of view 120 or received (directly or indirectly) from the host 210. The processing unit 108 can use the acquired information to determine a scan scheme for scanning different portions of the field of view 120. The acquired information can include current light conditions, current weather conditions, the current driving environment of the host vehicle, the current location of the host vehicle, the current trajectory of the host vehicle, the current topography of the road around the host vehicle, or any other conditions or objects that can be detected by light reflection. In some embodiments, the determined scan scheme can include at least one of the following: (a) a designation of the portion within the field of view 120 that is actively scanned as part of a scan cycle; (b) a projection plan of the projection unit 102 that defines the light emission profile in different portions of the field of view 120; (c) a deflection plan of the scan unit 104 that defines, for example, the deflection direction, frequency, and designates idle elements within the reflector array; and (d) a detection plan of the detection unit 106 that defines the sensitivity or response pattern of the detector.

[0117]

[0190] Further, processing unit 108 can determine a scanning scheme, at least in part, by obtaining an identification of at least one region of interest within field of view 120 and at least one region of non-interest within field of view 120. In some embodiments, processing unit 108 can determine a scanning scheme, at least in part, by obtaining an identification of at least one region of high interest within field of view 120 and at least one region of low interest within field of view 120. The identification of the at least one region of interest within field of view 120 can be determined, for example, from processed data captured within field of view 120, based on data from another sensor (e.g., camera, GPS), received (directly or indirectly) from host 210, or by any combination of the above. In some embodiments, the identification of the at least one region of interest can include an identification of a portion, area, section, pixel, or object within field of view 120 that is important to monitor. Examples of areas that may be identified as regions of interest can include a crosswalk, a moving object, a person, a nearby vehicle, or any other environmental condition or object that can aid in vehicle navigation. Examples of areas that may be identified as regions of no interest (or regions of low interest) may be static (non-moving) distant buildings, skylines, areas above the horizon, and objects within the field of view. Upon obtaining identification of at least one region of interest within the field of view 120, processing unit 108 may determine a scanning scheme or modify an existing scanning scheme. In addition to determining or modifying light source parameters (as described above), processing unit 108 may allocate detector resources based on the identification of the at least one region of interest. In one example, to reduce noise, processing unit 108 may activate detectors 410 expected to correspond to regions of interest and disable detectors 410 expected to correspond to regions of no interest. In another example, processing unit 108 may modify detector sensitivity to increase sensor sensitivity for long-range detection, for example, where reflected power is low.

[0118]

[0191] Diagrams A through C in FIG. 5B show examples of different scanning schemes for scanning the field of view 120. Each square in the field of view 120 represents a different portion 122 associated with the instantaneous position of at least one deflector 114. Legend 500 describes the light flux levels represented by the fill pattern of the squares. Diagram A shows a first scanning scheme in which all portions have the same importance / priority and are assigned a default light flux. This first scanning scheme can be utilized during startup or can be periodically alternated with another scanning scheme to monitor the entire field of view for unexpected / new objects. In one example, the light source parameters for the first scanning scheme can be configured to generate light pulses with a constant amplitude. Diagram B shows a second scanning scheme in which a high light flux is assigned to a portion of the field of view 120 and default and low light fluxes are assigned to the remaining portion of the field of view 120. Low light fluxes can be assigned to portions of the field of view 120 that are of least interest. Diagram C shows a third scanning scheme in which small vehicles and buses (see silhouettes) are identified within the field of view 120. This scanning scheme allows the contours of vehicles and buses to be tracked with high power and a lower level of flux (or no flux) allocated to the center of the vehicles and buses, allowing more of the optical budget to be concentrated on the contours of identified objects and less on the less important center portions.

[0119]

[0192] FIG. 5C illustrates the emission of light toward the field of view 120 during a single scan cycle. In the illustrated example, the field of view 120 is represented by an 8×9 matrix, with each of the 72 cells corresponding to a distinct portion 122 associated with a different instantaneous position of at least one optical deflector 114. In this exemplary scan cycle, each portion includes one or more white dots representing the number of light pulses projected toward that portion, and some portions include black dots representing reflected light from that portion detected by the sensor 116. As illustrated, the field of view 120 is divided into three portions: Sector I on the right side of the field of view 120, Sector II in the center of the field of view 120, and Sector III on the left side of the field of view 120. In this exemplary scan cycle, Sector I is initially assigned a single light pulse per portion, Sector II, previously identified as a region of interest, is initially assigned three light pulses per portion, and Sector III is initially assigned two light pulses per portion. As illustrated, scanning the field of view 120 reveals four objects 208. Two free-form objects are shown in the near field (e.g., between 5 and 50 meters), a rectangular object with rounded corners in the mid-field (e.g., between 50 and 150 meters), and a triangular object in the far field (e.g., between 150 and 500 meters). While the discussion of FIG. 5C uses pulse number as an example of flux allocation, it should be noted that flux allocation to different portions of the field of view can be implemented in other ways. For example, pulse duration, pulse angular dispersion, wavelength, instantaneous power, photon density at different distances from the light source 112, average power, pulse power intensity, pulse width, pulse repetition rate, pulse sequence, pulse duty cycle, wavelength, phase, polarization, and others can be used. The illustration of light emission as a single scan cycle in FIG. 5C illustrates various functions of the LIDAR system 100. In a first embodiment, the processor 118 is configured to use two light pulses to detect a first object (e.g., a rectangular object with rounded corners) at a first distance and three light pulses to detect a second object (e.g., a triangular object) at a second distance greater than the first distance, as described in more detail below with reference to Figures 11-13.In a second embodiment, the processor 118 is configured to allocate more light to portions of the field of view in which a region of interest has been identified. Specifically, in this example, sector II was identified as a region of interest and therefore allocated three light pulses, while the remainder of the field of view 120 was allocated two or fewer light pulses. This embodiment is described in more detail below with reference to FIGS. 20-22. In a third embodiment, the processor 118 is configured to control the light source 112 to project only a single light pulse to portions B1, B2, and C1 of FIG. 5C, which are portions of sector III that were initially allocated two light pulses per portion. This is done because the processing unit 108 detected a near-field object based on the first light pulse. This embodiment is described in more detail below with reference to FIGS. 23-25. Also, allocation of a less-than-maximum amount of pulses may be performed as a result of other considerations. For example, detection of an object at a first distance (e.g., a near-field object) in at least some regions may reduce the overall amount of light emitted to this portion of the field of view 120. This embodiment is described in more detail below with reference to Figures 14 to 16. Other reasons for determining the power allocation to different portions are discussed further below with reference to Figures 29 to 31, 53 to 55, and 50 to 52.

[0120] Further details and examples of the various components of LIDAR system 100 and their associated functions are contained in commonly owned U.S. patent application Ser. No. 15 / 391,916, filed Dec. 28, 2016, commonly owned U.S. patent application Ser. No. 15 / 393,749, filed Dec. 29, 2016, commonly owned U.S. patent application Ser. No. 15 / 393,285, filed Dec. 29, 2016, commonly owned U.S. patent application Ser. No. 15 / 393,593, filed Dec. 29, 2016, all of which are incorporated herein by reference in their entireties.

[0121] Exemplary Implementation: Vehicle

[0193] 6A-6C illustrate an implementation of LIDAR system 100 in a vehicle (e.g., vehicle 110). Any of the aspects of LIDAR system 100 described above or below can be incorporated into vehicle 110 to provide a distance-sensing vehicle. Specifically, in this example, LIDAR system 100 integrates multiple scanning units 104 and possibly multiple projection units 102 within a single vehicle. In one embodiment, the vehicle utilizes such a LIDAR system to provide increased power, range, and accuracy within and beyond the overlap zone, as well as increased redundancy in sensitive portions of the FOV (e.g., in the direction of forward vehicle movement). As shown in FIG. 6A, vehicle 110 may include a first processor 118A for controlling the scanning of field of view 120A, a second processor 118B for controlling the scanning of field of view 120B, and a third processor 118C for controlling synchronization of the scanning of the two fields of view. In one example, processor 118C can be a vehicle controller and can have a shared interface between first processor 118A and second processor 118B. The shared interface enables data exchange at an intermediate processing level and synchronization of the scanning of the combined field of view to create overlap in temporal and / or spatial space. In one embodiment, the data exchanged using the shared interface can be (a) time-of-flight of received signals associated with the overlapped field of view and / or its neighboring pixels, (b) laser steering position status, and (c) detection status of objects within the field of view.

[0122]

[0194] 6B shows an overlap region 600 between field of view 120A and field of view 120B. In the illustrated example, the overlap region is associated with 24 portions 122 from field of view 120A and 24 portions 122 from field of view 120B. Assuming the overlap region is defined and known to processors 118A and 118B, each processor can be designed to limit the amount of light emitted in overlap region 600 to comply with eye safety limits for light from multiple light sources or for other reasons, such as maintaining an optical budget. Furthermore, processors 118A and 118B can avoid interference of light emitted by the two light sources through loose synchronization between scan unit 104A and scan unit 104B, and / or by controlling the timing of laser transmissions and / or the timing of enabling detection circuitry.

[0123]

[0195] FIG. 6C illustrates how an overlap region 600 between fields of view 120A and 120B can be used to increase the detection range of the vehicle 110. In accordance with the present disclosure, utilizing two or more light sources 112 that project a nominal light emission within the overlap zone can increase the effective detection range. The term “detection range” may include the approximate distance from the vehicle 110 at which the LIDAR system 100 can unambiguously detect an object. In one embodiment, the maximum detection range of the LIDAR system 100 is approximately 300 meters, approximately 400 meters, or approximately 500 meters. For example, at a detection range of 200 meters, the LIDAR system 100 may detect objects located 200 meters (or less) from the vehicle 110 more than 95%, more than 99%, or more than 99.5% of the time, even when the reflectivity of the object is less than 50% (e.g., less than 20%, less than 10%, or less than 5%). Furthermore, the LIDAR system 100 may have a false alarm rate of less than 1%. In one embodiment, projected light from two light sources spaced in time and space can be used to improve the SNR and, therefore, the coverage and / or quality of service for objects located in the overlapping area. Processor 118C can extract high-level information from the reflected light in fields of view 120A and 120B. The term "extracting information" may include any process of identifying information related to objects, individuals, locations, events, etc., within the captured image data by any means known to those skilled in the art. Furthermore, processors 118A and 118B share high-level information, such as objects (road divisions, background, pedestrians, vehicles, etc.) and motion vectors, allowing each processor to focus attention on surrounding areas that may soon become areas of interest. For example, it can be determined that a moving object in field of view 120A will soon enter field of view 120B.

[0124] Exemplary Implementation: Survey System

[0196] Figure 6D illustrates an implementation of LIDAR system 100 in a surveillance system. As mentioned above, LIDAR system 100 can be fixed to a stationary object 650, which may include a motor or other mechanism for rotating the housing of LIDAR system 100 to obtain a wider field of view. Alternatively, the surveillance system can include multiple LIDAR units. In the example shown in Figure 6D, the surveillance system can use a single rotatable LIDAR system 100 to acquire 3D data representing the field of view 120 and process this 3D data to detect people 652, vehicles 654, changes in the environment, or any other form of data important to security.

[0125]

[0197] In accordance with some embodiments of the present disclosure, 3D data can be analyzed to monitor retail processes. In one embodiment, the 3D data can be used in retail processes requiring physical security (e.g., detecting break-ins within a retail facility, vandalism in or around a retail facility, unauthorized access to secured areas, and suspicious activity around automobiles in a parking lot). In another embodiment, the 3D data can be used for public safety (e.g., detecting people slipping and falling on store grounds, spilling or blocking dangerous liquids on store floors, assaults or kidnappings in store parking lots, blocked fire exits, and crowding within or outside a store area). In another embodiment, the 3D data can be used for business-sensitive data collection (e.g., tracking people passing through a store area to determine how many people pass by, where they stop, how long they stop, and how their shopping habits compare to purchasing habits).

[0126]

[0198] According to other embodiments of the present disclosure, the 3D data can be analyzed and used for traffic enforcement. Specifically, the 3D data can be used to identify vehicles traveling above the legal speed limit or any other traffic law requirement. In one example, the LIDAR system 100 can be used to detect vehicles crossing a stop line or designated stopping position when the light is red. In another example, the LIDAR system 100 can be used to identify vehicles traveling in lanes reserved for public transportation. In yet another example, the LIDAR system 100 can be used to identify vehicles turning at an intersection where certain turns are prohibited when the light is red.

[0127]

[0199] While various exemplary disclosed embodiments are described above and below in connection with a control unit controlling the scanning of a deflector, it should be noted that various features of the disclosed embodiments are not limited to such systems. Techniques for allocating light to various portions of a LIDAR FOV are applicable to types of light-based sensing systems (LIDA or otherwise) in which it may be desirable or necessary to direct different amounts of light to different portions of the field of view. In some cases, such light allocation techniques positively affect detection functionality as described herein, but other benefits may also be obtained.

[0128]

[0200] Scanning LIDAR based on detector arrays

[0129]

[0201] Many existing LIDAR systems shine a laser flash at a scene, which then generates a reflection that is used to construct an image of the scene. However, such systems provide a low level of detail (e.g., low resolution) and may not provide redundancy in their measurements.

[0130]

[0202] The disclosed systems and methods thus enable the use of a moving (or scanning) laser spot using multiple detectors, thereby providing greater detail than existing systems, along with multiplicity of measurements at each spot. Such multiplicity provides additional detail and / or redundant measurements that can be used, for example, in error correction.

[0131]

[0203] 7 illustrates an example method 700 for detecting objects using a LIDAR system. Method 700 can be performed by one or more processors (e.g., at least one processor 118 of the processing unit 108 of the LIDAR system 100 shown in FIG. 1A and / or two processors 118 of the processing unit 108 of the LIDAR system 100 shown in FIG. 2A).

[0132]

[0204] In step 701, processor 118 controls the light emission of a light source (e.g., light source 112 in FIG. 1A , laser diode 202 of light source 112 in FIG. 2A , and / or multiple light sources 102 in FIG. 2B ). For example, processor 118 can increase or decrease the power of the light source. Further, processor 118 can vary the timing of pulses from the light source. Alternatively, or simultaneously, processor 118 can vary the length of pulses from the light source. As another example, processor 118 can alternatively or simultaneously vary the spatial dimensions of the light pulses emitted from the light source (e.g., changing the length or width or otherwise changing the cross-sectional area). In yet another example, processor 118 can alternatively or simultaneously vary the amplitude and / or frequency of pulses from the light source. In yet another example, processor 118 can change parameters of continuous wave (CW) or quasi-CW light emission from the light source (e.g., its amplitude, modulation, phase, etc.). The light source may be referred to as a “laser,” although alternative light sources may be used instead of or in addition to a laser. For example, a light emitting diode (LED) based light source or the like can be used as the light source. In some embodiments, controlling the light emission can include controlling the operation of other components in the emission path in addition to the light source itself. For example, the processor 118 can further control the light source by controlling collimation optics and / or other optical components on the transmit path of the LIDAR system.

[0133]

[0205] In step 703, processor 118 scans the field of view (e.g., field of view 120 in FIGS. 1A and 2A) by repeatedly moving at least one optical deflector (e.g., optical deflector 114 in FIG. 1A, deflector 114A and / or deflector 114B in FIG. 2A, and / or one-way deflector 114 in FIG. 2B) disposed in the outbound path of the light source. In some embodiments, the at least one optical deflector may include a pivotable MEMS mirror (e.g., MEMS mirror 300 in FIG. 3A).

[0134]

[0206] In some embodiments, the processor 118 can move the at least one optical deflector such that the at least one optical deflector is located at multiple different instantaneous positions during a single scan cycle of the field of view (e.g., the deflector can be controlled to move from one instantaneous position or through one instantaneous position to another instantaneous position during a scan of the LIDAR FOV). For example, the at least one optical deflector can be moved continuously or non-continuously from one to another of multiple positions during a scan cycle (optionally with additional positions and / or repetitions). As used herein, the term "moving" can refer to physical movement of the deflector or to alteration of the deflector's electrical or optical properties (e.g., when the deflector includes a MEMS mirror or other piezoelectric or thermoelectric mirror, when the deflector includes an optical phased array (OPA), etc.). Movement of the at least one deflector can also be performed with respect to a light source associated with the at least one deflector. For example, if the LIDAR system includes a vertical cavity surface emitting laser (VCSEL) array or any other type of light emitter array, moving the at least one deflector may include changing the combination of active lasers in the array. In such an implementation, the instantaneous position of the deflector may be defined by the particular combination of active light sources in the VCSEL array (or other type of light emitter array).

[0135]

[0207] In some embodiments, the processor 118 can coordinate the at least one optical deflector with the light source such that an outbound path of the light source at least partially coincides with a return path when the at least one optical deflector is positioned at a particular instantaneous position. For example, as shown in FIG. 2B , the projected light 204 and the reflected light 206 are at least partially coincident. In such embodiments, the at least one deflector can include a pivotable MEMS mirror.

[0136]

[0208] Similarly, in some embodiments, the overlapping portion of the outbound and return paths may include a common optical deflection element. For example, as shown in FIG. 2B , optical deflector 114 directs projected light toward field of view 120 and directs reflected light toward sensor 116. In some embodiments, the common optical deflection element may be a movable deflection element (i.e., a deflection element that can be controllably moved between multiple instantaneous positions). In some embodiments, the overlapping portion may include a portion of the surface of the common optical deflection element. Thus, in certain aspects, even if the projected light does not impinge on the entire area (or nearly the entire area) of the common optical deflection element, one or more reflections may cover the entire area (or nearly the entire area) of the common optical deflection element.

[0137]

[0209] Alternatively or simultaneously, the at least one optical deflector may include at least one outbound deflector and at least one return deflector. For example, as shown in FIG. 2A , outbound deflector 114A directs projected light 204 toward field of view 120, and return deflector 114B directs reflected light 206 from an object 208 within field of view 120. In such an embodiment, processor 118 may receive, via the at least one return deflector, a reflection of the single light beam spot along a return path to the sensor that does not coincide with the outbound path. For example, as shown in FIG. 2A , projected light 205 travels along a path that does not coincide with reflected light 206.

[0138]

[0210] Optical paths, such as the outbound and return paths described above, may be at least partially within the housing of the LIDAR system. For example, the outbound path may include a portion of the space between the light source and at least one optical deflector within the housing and / or a portion of the space between the at least one optical deflector and an aperture in the housing. Similarly, the return path may include a portion of the space between the at least one optical deflector (or a separate at least one optical deflector) within the housing and an aperture in the housing and / or a portion of the space between the sensor and the at least one optical deflector (or a separate at least one optical deflector).

[0139]

[0211] In step 705, while the at least one deflector is in a particular instantaneous position, the processor 118 receives a reflection of a single light beam spot along a return path to a sensor (e.g., at least one sensor 116 of the sensing unit 106 in FIGS. 1A, 2A, 2B, and 2C) via the at least one deflector. As used herein, the term “beam spot” may refer to a portion of a light beam from a light source that may generate one or more reflections from the field of view. A “beam spot” may include a single pixel or may include multiple pixels. Thus, a “beam spot” may illuminate a portion of a scene that is detected by a single pixel of a LIDAR system or by several pixels of a LIDAR system. Each portion of the scene may cover an entire pixel, but does not necessarily need to cover the entire pixel for detection by the pixel. Furthermore, the size of the “beam spot” may be larger, approximately the same as, or smaller than the at least one deflector (e.g., if the beam spot is deflected by a deflector on the outbound path).

[0140]

[0212] In step 707, processor 118 receives, for each beam spot, from the sensor a signal associated with an image of each light beam spot. For example, the sensor may absorb the reflection of each beam spot and convert the absorbed beam spot into an electronic (or other digital) signal for transmission to processor 118. Thus, the sensor may include a SiPM (silicon photomultiplier) or any other solid-state device constructed from an array of avalanche photodiodes (APDs, SPADs, etc.) on a common silicon substrate, or any other device capable of measuring a property (e.g., power, frequency) of an electromagnetic wave and generating an output (e.g., a digital signal) related to the measured property.

[0141]

[0213] In some embodiments, a sensor can include multiple detectors (e.g., detector elements 402 of detector array 400 in FIG. 4A). In certain aspects, the size of each detector can be smaller than the image of each light beam spot, such that for each beam spot, an image of each light beam spot is incident on multiple detectors. Thus, as used herein, multiple light beam spots need not include all spots onto which images are projected, but rather include at least two spots that are larger than the multiple detectors.

[0142]

[0214] In some embodiments, each detector of a sensor's multiple detectors can include one or more sub-detectors. For example, a detector can include a SiPM, which can include multiple individual single-photon avalanche photodiodes (SPADs). In such an example, the sensor can include multiple (e.g., 5, 10, 20, etc.) SiPM detectors, and each SiPM can include multiple (e.g., tens, hundreds, or thousands) SPADs. Thus, in certain aspects, the detectors include a smallest group whose output is converted to a single data point in the generated output model (e.g., a single data point in the generated 3D model).

[0143]

[0215] In some embodiments, the LIDAR system may include multiple light sources. In such embodiments, the processor 118 may simultaneously control the light emissions of multiple light sources aimed at a common optical deflector. For example, as shown in FIG. 2B , multiple light sources 102 are aimed at a common optical deflector 114. Furthermore, the processor 118 may receive signals associated with images of different light beam spots from multiple sensors, each positioned along a different return path. For example, as further shown in FIG. 2B , multiple sensors 116 receive reflections along different return paths. Thus, the multiple sensors 116 may generate signals associated with images of different light beam spots. In some embodiments, reflections may also be deflected by at least one scanning optical deflector. For example, as shown in FIG. 2B , multiple scanning optical deflectors 214 deflect reflections received along different return paths before reaching the multiple sensors 116.

[0144]

[0216] In some embodiments, the sensor may include a one-dimensional array of detectors (e.g., having at least four individual detectors), while in other embodiments, the sensor may include a two-dimensional array of detectors (e.g., having at least eight individual detectors).

[0145]

[0217] In step 709, processor 118 determines at least two different range measurements associated with the image of the single light beam spot from signals resulting from incidence on the multiple detectors. For example, the at least two different range measurements may correspond to at least two different distances. In a similar example, the sensor may be configured to detect reflections associated with at least two different times of flight for the single light beam spot. In such an example, the time-of-flight measurements may differ due to differences in the distance traveled by the light beam spot to the different detectors. Similarly, the frequency phase shift measurements and / or modulation phase shift measurements may differ due to differences in distance and / or angle of incidence to the different detectors.

[0146]

[0218] In some embodiments, the at least two different range measurements are obtained from detection information acquired by two or more detectors (e.g., two or more independently sampled SiPM detectors) of one or more sensors. Furthermore, the at least two different range measurements can be associated with two different directions relative to the LIDAR system. For example, a first range measurement detected by a first detector of one or more sensors can be transformed to a first detection location (e.g., in spherical coordinates θ1, φ1, D1), and a second range measurement detected from a reflection of the same beam spot by a second detector of one or more sensors can be transformed to a second detection location (e.g., in spherical coordinates θ2, φ2, D2). Any combination of at least two pairs of coordinates differs between the first and second detection locations (e.g., θ2 ≠ θ2, D1 ≠ D2, etc.).

[0147]

[0219] In another example where the at least two different range measurements correspond to at least two different distances, the at least two different range measurements may include a first distance measurement to a portion of the object and a second distance measurement to an element in the object's environment. For example, if the beam spot covers both an object (e.g., a tree, a building, a vehicle) and an element in the object's environment (e.g., a road, a person, fog, water, dust), the first range measurement may indicate the distance to a portion of the object (e.g., a branch, a door, a headlight), and the second range measurement may indicate the distance to an element in the background. In another example where the at least two different range measurements correspond to at least two different distances, the at least two different range measurements may include a first distance measurement to a first portion of the object and a second distance measurement to a second portion of the object. For example, if the object is a vehicle, the first range measurement may indicate the distance to a first portion of the vehicle (e.g., a bumper, a headlight), and the second range measurement may indicate the distance to a second portion of the vehicle (e.g., a trunk handle, a wheel).

[0148]

[0220] Alternatively or simultaneously, the at least two different range measurements associated with the image of the single light beam spot may correspond to at least two different intensities. Similarly, the at least two different range measurements may include a first intensity measurement associated with a first portion of the object and a second intensity measurement associated with a second portion of the object.

[0149]

[0221] In some embodiments, processor 118 can simultaneously determine a first plurality of range measurements associated with the image of the first light beam spot and a second plurality of range measurements associated with the image of the second light beam spot. In some aspects, the first plurality of range measurements can be greater than the second plurality of range measurements. For example, if the first light beam spot contains more detail than the second light beam spot, processor 118 can determine more range measurements from the first light beam spot than from the second light beam spot. In such an example, if the second light beam spot is at least partially directed at or includes sky, the measurements from the first light beam spot can include 8 measurements and the measurements from the second light beam spot can include 5 measurements.

[0150]

[0222] In some embodiments, the number of different range measurements determined in a scan cycle can be greater than the number of instantaneous positions. For example, processor 118 can determine at least two different range measurements for each instantaneous position, as described above with reference to step 709. For example, if the sensor includes N detectors and the LIDAR system detects range at M instantaneous positions of the deflector in each scan cycle, the number of range measurements determined can be at most N×M. In some embodiments, even if multiple pulses are emitted in each portion of the FOV, the number of pulses emitted in each scan cycle can be less than the number of point cloud data points (or other 3D model data points) generated. For example, if P pulses are emitted at each instantaneous position, the number of pulses in a scan cycle can be P×M. In the above embodiment, P <Mである。

[0151]

[0223] Method 700 may include additional steps. For example, method 700 may include generating output data (e.g., a 3D model) where different measurements are associated with different directions relative to the LIDAR. In such an example, processor 118 may generate a 3D model frame (or the like) from information for many pixels of different light beams and different angles of the FOV.

[0152]

[0224] In some embodiments, the different directions can be different relative to an optical window or LIDAR aperture through which the reflected signal travels to the at least one detector, e.g., in spherical coordinates, at least one of φ or θ can differ between the two measurements.

[0153]

[0225] In some embodiments, method 700 may further include generating multiple point cloud data entries from the reflection of a single light beam spot. For example, processor 118 may generate multiple point cloud data entries, such as those shown in FIG. 1B, from the reflection of a single light beam spot. Processor 118 may generate multiples of 2, 3, 4, 8, etc. from the single light beam spot, for example, using at least two range measurements from step 709.

[0154]

[0226] The multiple point cloud data entries can define a two-dimensional surface, for example, the multiple point cloud data entries can form part of a point cloud model such as the one shown in FIG. 1C.

[0155]

[0227] Method 700 can be performed such that different portions of the field of view are detected at different times. Thus, illuminating a portion of the field of view and determining multiple range measurements as a result occurs while at least other portions of the field of view are not illuminated by the light source. Thus, method 700 scans a portion of the field of view and repeats this for different portions of the field of view, resulting in multiple "scans within scans" of the field of view, as shown in the examples of Figures 10B and 10C.

[0156]

[0228] As mentioned above, FIG. 4C illustrates an example of a two-dimensional sensor 116 that may be used in the method 700 of FIG. 7. FIG. 8A illustrates an alternative sensor 800 for use in place of or in combination with the sensor 116 of FIG. 4C. For example, while the detector 410 in the example of FIG. 4C is rectangular, the example of FIG. 8A illustrates a plurality of hexagonal pixels (e.g., pixel 844) made up of individual detectors (e.g., detector 846). Similarly, FIG. 8B illustrates an alternative one-dimensional sensor 850 for use in place of or in combination with the sensor 116 of FIG. 4C and / or the sensor 800 of FIG. 8A. In the example of FIG. 8B, a one-dimensional column of pixels (e.g., pixel 854) is made up of individual detectors (e.g., detector 856). While shown as one-dimensional vertical columns in FIG. 8B, alternative embodiments may include one-dimensional horizontal rows of detectors.

[0157]

[0229] 9A and 9B are block diagrams illustrating an exemplary LIDAR device with transmit and reflect alignment. The LIDAR systems 900 and 900′ of FIGS. 9A and 9B represent implementations of the LIDAR system 100 of FIG. 1. Accordingly, the features and modifications discussed with respect to FIGS. 1A through 1C are equally applicable to the embodiments of FIGS. 9A and 9B, and vice versa. For example, as shown in FIGS. 9A and 9B, the LIDAR systems 900 and 900′ may include at least one photon pulse emitter assembly 910 for emitting one or more photon test pulses. The emitter 910 may include a projection unit 102 having at least one light source 112 of FIGS. 1A, 2A, or 2B.

[0158]

[0230] As further shown in FIGS. 9A and 9B , the LIDARs 900 and 900′ may include at least one photon steering assembly 920 for directing photon interrogation pulses in the direction of the scene segment being scanned and for directing reflected photons toward a photon detection assembly 930. The steering assembly 920 may include controllably steerable optics (e.g., rotatable / movable mirrors, movable lenses, etc.) and may also include fixed optical components such as beam splitters. For example, the steering assembly 920 may include deflectors 114A and 114B of FIG. 2A and / or the common optical deflector 114 and multiple scanning optical deflectors 214 of FIG. 2B . Some optical components (e.g., those used to collimate the laser pulses) may be part of the emitter 910, while other optical components may be part of the detector 930.

[0159]

[0231] 9A and 9B, the LIDARs 900 and 900′ may further include at least one photon detection assembly 930 for detecting photons of the photon test pulse reflected back from objects in the scanned scene. The detection assembly 930 may include a two-dimensional sensor 932, such as sensor 116 of FIG. 4C and / or sensor 800 of FIG. 8. In some embodiments, the detection assembly 930 may include multiple two-dimensional sensors.

[0160]

[0232] 9A and 9B, the LIDARs 900 and 900′ can include a controller 940 for controlling the steering assembly 920 and / or the emitter 910 and / or the detector 930. For example, the controller 940 can include at least one processor (e.g., the processor 118 of the processing unit 108 of the LIDAR system 100 shown in FIG. 1A and / or two processors 118 of the processing unit 108 of the LIDAR system shown in FIG. 2A). The controller 940 can control the steering assembly 920 and / or the emitter 910 and / or the detector 930 in various coordinated manners, as described both above and below. Accordingly, the controller 940 can perform all or part of the methods disclosed herein.

[0161]

[0233] 9B, the LIDAR 900′ also includes at least one vision processor 950. The vision processor 950 can obtain collected data from the photon detector 930 and process it to generate data from the collected data. For example, the vision processor 950 (optionally in combination with the controller 940) can generate point cloud data entries from the collected data and / or generate a point cloud data model therefrom.

[0162]

[0234] In both LIDARs 900 and 900′, the controller 940 (and optionally the vision processor 950 of the LIDAR 900′) is used to coordinate transmission (TX) and reflection (RX). This coordination may include using coordination between multiple optical deflectors to deflect both transmission and reflection in a synchronized manner, and / or using coordination within a shared deflector to deflect both transmission and reflection in a synchronized manner. Synchronization may involve physical movement and / or piezoelectric and / or thermoelectric adjustment of one or more optical deflectors.

[0163]

[0235] Figure 10A shows an example of a first FOV 1000 and several examples of second FOVs 1002 and 1004. The angular size and pixel dimensions of the FOVs may differ from the examples given in Figure 10A.

[0164]

[0236] 10B illustrates an exemplary scanning pattern for the second FOV 1002 of FIG. 10A across the first FOV 1000 of FIG. 10A. As shown in FIG. 10B, the second FOV 1002 may be scanned across the FOV 1000, moving from right to left in a horizontal pattern, and then moving from left to right in a diagonal pattern. Such patterns are merely exemplary. The systems and methods of the present disclosure may use any pattern for moving the second FOV across the first FOV.

[0165]

[0237] FIG. 10C illustrates an exemplary scanning pattern for the second FOV 1006 across the first FOV 1000 of FIG. 10A. As shown in FIG. 10C, the second FOV 1006 can be scanned across the FOV 1000, moving from right to left in a horizontal pattern. Such a pattern is merely exemplary. The systems and methods of the present disclosure can use any pattern for moving the second FOV across the first FOV. With reference to the examples of FIGS. 10B and 10C, it should be noted that the array sizes used in these figures, like the non-limiting example of FIG. 10A, are used merely as non-limiting examples, and that the number of pixels in each array can be significantly smaller (e.g., 2×3, 3×5, etc.), significantly larger (e.g., 100×100, etc.), or any number in between.

[0166]

[0238] In the example of Figure 10C, the second FOV 1006 has a height that corresponds to the height of the first FOV 1000. Thus, by matching at least one corresponding dimension of the second FOV to the first FOV, as shown in Figure 10C, the required scan rate of the second FOV across the first FOV can be reduced. Thus, a LIDAR system according to the present disclosure can include a 1D sensor array having dimensions that correspond to at least one dimension of the first FOV.

[0167]

[0239] Returning to the example of Figure 10B, the second FOV 1002 is smaller in both dimensions than the first FOV 1000. This allows the LIDAR system to concentrate its energy in a smaller area, improving the signal-to-noise ratio and / or detection range.

[0168]

[0240] By scanning the second FOV across the first FOV, the disclosed system can generate a 3D model with relatively low object smear, in part because the steerable 2D sensor array can simultaneously detect most of the object. The reduced smear level can be achieved along one or more axes of the sensor array (e.g., (X, Y), (φ, θ)) and / or along the depth axis (e.g., Z, r). The reduced smear level results in improved detection accuracy.

[0169]

[0241] Furthermore, scanning the second FOV across the first FOV may allow for scanning at a relatively slower frequency (e.g., if the sensor array implements 10 vertical pixels, the vertical axis mirror movement will be approximately 10 times slower). The reduced scan rate allows for the use of larger mirrors.

[0170]

[0242] Additionally, scanning the second FOV across the first FOV may enable the use of weaker light sources than existing systems, which may reduce power consumption, miniaturize the LIDAR system, and / or improve eye safety and other safety concerns. Similarly, scanning the second FOV across the first FOV may enable the use of relatively smaller sensors than existing systems, which may reduce the size, weight, cost, and / or complexity of the system. This may also allow the use of more sensitive sensors than existing systems.

[0171]

[0243] Additionally, scanning the second FOV across the first FOV may reduce collected ambient light and / or noise, which may improve signal-to-noise ratio and / or detection range compared to existing systems.

[0172]

[0244] Selective illumination in Lidar based on detection results

[0173]

[0245] As described above, a LIDAR system can be used to generate a depth map of objects detected in a scene. Such a depth map can include a point cloud model, a polygon mesh, a depth image, or any other type of 3D model of the scene. However, in some cases, the LIDAR system detects fewer than all objects in a particular scene or within a particular distance range. For example, a 3D reconstruction of a scene can detect and include objects relatively close to the LIDAR system, while other objects (e.g., smaller, less reflective, or more distant objects) may be undetected for a particular set of operating parameters of the LIDAR system. In addition, the signal-to-noise ratio of the system may be lower than desired in some cases or may be lower than the level that allows for detection of objects within the LIDAR system's field of view.

[0174]

[0246] In certain embodiments, the LIDAR systems described herein, including any of the configurations described above, may alter one or more operating parameters of the LIDAR system during a current scan of the FOV or a subsequent scan of the FOV to dynamically vary the amount of light flux applied to different sections of the LIDAR FOV. To do this, the LIDAR system 100 may be capable of increasing the number of objects detected within the FOV. The LIDAR system 100 may also increase the signal-to-noise ratio (e.g., the ratio of illumination from the LIDAR system to other noise or interference sources, such as sunlight (or other illumination sources) or electrical noise associated with the detection circuitry). Increasing the signal-to-noise ratio can improve system sensitivity and resolution. Such dynamic variation of light flux applied to different regions of the LIDAR FOV can generate a depth map (or other representation of a scene) of the LIDAR system's environment, including a representation of one or more objects that may otherwise be undetected.

[0175]

[0247] There are many different possibilities for dynamically varying the flux for a particular area of ​​the scanned FOV, some examples of which are discussed in more detail below. However, such dynamic flux variations may include reducing or maintaining the flux level in locations within the scanned FOV where objects are detected and increasing the flux in areas where no objects are detected. Such increased flux may enable detection of more distant or less reflective objects. Such increased flux may also enable an improved signal-to-noise ratio in particular areas of the scanned FOV. As described above, these effects enable the LIDAR system to generate a more informative depth map of objects in the environment. In addition to objects detectable within a particular range associated with a fixed flux scan, the system may identify other objects through dynamic flux adjustments during scanning.

[0176]

[0248] As described above, the LIDAR system 100 may include a projection unit 102 that includes at least one light source 112. The processing unit 108 may be configured to coordinate the operation of the light source 112 and any other available light sources. In some examples, the processing unit 108 controls the light source 112 to vary the light flux used to scan the field of view of the LIDAR system using light from the at least one light source 112. The processing unit 108 may also control a deflector 114 of the scanning unit 104 to deflect the light from the at least one light source 112 to scan the field of view. As also described above, the processing unit 108 may interact with the detection unit 106 to monitor reflections from various objects within the scanned FOV (e.g., based on signals generated by one or more sensors upon which the reflections are incident). Based on the monitored reflections, the processing unit 108 may generate a depth map or other reconstruction of a scene associated with the scanned FOV. For example, processing unit 108 may use a first detected reflection associated with scanning a first portion of the field of view to determine the presence of a first object at a first distance within the first portion. During scanning of the FOV, processing unit 108 may determine the absence of an object at the first distance within a second portion of the field of view. For example, processing unit 108 can determine the absence of an object within the second portion by processing received sensor detection signals over a time period that corresponds to or includes the travel time of light, starting from the emission of light into the second portion of the field of view and spanning a distance equal to twice the first distance (because if an object is present within the first range, the reflected light must travel to the object and then return). After detecting the first reflection and determining the absence of an object within the second portion, processing unit 108 may alter light source parameters, for example, associated with at least one light source 112, so that more light is projected into the second portion of the field of view than into the first portion of the field of view. Processing unit 108 may use a second detected reflection in the second portion of the field of view to determine the presence of a second object at a second distance greater than the first distance.

[0177]

[0249] During a scan of the LIDAR system FOV, the processing unit 108 can control one or more parameters associated with the available light sources 112 to vary the amount of light flux provided (e.g., projected) to a particular region of the FOV. In some examples, varying the light flux can include increasing the light flux in one region of the FOV relative to the amount of light flux provided to another region of the FOV. Also, varying the light flux can include increasing the amount of light provided in a particular time period (e.g., within a particular region of the FOV) relative to another time period. The increase in light flux, corresponding to projecting or providing more light to a particular region, can include various quantitative characteristics of the projected light. For example, the increase in light flux can include power per solid angle, irradiance for a portion of the FOV, number of projected light pulses, power per pixel, photons per unit time, photons per scan cycle, total energy for a particular time period, total energy for a single scan cycle, light flux density (e.g., W / m 2 ), the number of emitted photons per data point in the generated point cloud model, the total energy per data point in the generated point cloud model, or any other feature that increases the luminous flux.

[0178]

[0250] The deflector 114, controlled by the processing unit 108 to deflect light from the at least one light source 112, may include any suitable optical element for changing the optical path of at least a portion of the light incident on the deflector. For example, in some embodiments, the deflector 114 may include a MEMS mirror (e.g., a pivotable MEMS mirror). The deflector may also include other types of mirrors, prisms, controllable lenses, mechanical mirrors, mechanical scanning polygons, active diffractive elements (e.g., controllable LCDs), Risley prisms, non-mechanical electro-optical beam steering devices, polarization gratings, optical phased arrays (OPAs), or any other suitable light steering element.

[0179]

[0251] Optionally, after a first object is detected, processing unit 108 may control at least light source 112 and / or at least deflector such that all emission is toward a second region of the FOV used in detecting a second object before additional light is emitted toward the first portion (e.g., in a later scan cycle).

[0180]

[0252] This technique for scanning a LIDAR FOV and dynamically varying the light flux provided to specific regions of the LIDAR FOV will be described in more detail with reference to FIGS. 11 and 12. FIG. 11 is a schematic diagram of an FOV 120 that can be scanned using a processing unit 108 controlling one or more light sources 112 and at least one deflector 114. For example, as previously described, the FOV can be scanned by moving the deflector 114 through multiple instantaneous positions, each corresponding to a specific portion 122 of the FOV 120. It should be noted that the FOV 120 can include multiple substantially equal-sized portions 122 (e.g., subtended by the same solid angle). However, this is not necessarily the case. It should be noted that while scanning the FOV 120, the deflector 114 can dwell at each instantaneous position for a predetermined amount of time. During that time, light can be projected onto the corresponding portion 122 of the FOV 120, such as a continuous wave, a single pulse, or multiple pulses. Also, during a predetermined dwell time at a particular instantaneous position, deflector 114 can be used to direct light reflected from objects in the scene to one or more detector units (e.g., in a monostatic embodiment). Alternatively, deflector 114 can move continuously (or semi-continuously) through multiple instantaneous positions while scanning FOV 120. During such continuous or semi-continuous scanning, continuous wave, single pulse, multiple pulses, etc. of light can be projected onto instantaneous portion 122 of FOV 120. Also, during such continuous or semi-continuous scanning, deflector 114 can be used to direct light reflected from objects in the scene to one or more detector units (e.g., in a monostatic embodiment).

[0181]

[0253] Scanning of FOV 120 may proceed, for example, by projecting light from light source 112 onto region 1102 of FOV 120, collecting reflected light from region 1102, and performing time-of-flight analysis based on the projected and reflected light to determine the distance to one or more objects within region 1102 that produced the reflection. After collecting the reflected light from region 1102, processing unit 108 may move deflector 114 to another region of FOV 120 (e.g., an adjacent region or some other region) and repeat the process. The entire FOV 120 may be scanned in this manner (e.g., moving from region 1102 to 1104, then scanning all other rows, and finishing at region 1106). 11 begins with the top row and progresses left to right, then right to left for each subsequent row, although any suitable scan pattern may be used to scan FOV 120 (e.g., row by row in one or both horizontal directions, column by column in one or both vertical directions, diagonal, or selecting individual regions or subsets of regions). Also, as previously mentioned, a depth map or any type of reconstruction may be generated based on the determination of reflections and distances to objects.

[0182]

[0254] The processing unit 108 may control the deflector 114 in any suitable manner to enable the deflector 114 to redirect light from the light source 112 to various regions 122 of the FOV 120. For example, in some embodiments, the at least one processor 118 may be configured to control the at least one optical deflector 114 so that the at least one optical deflector pivots about two orthogonal axes or along two substantially perpendicular axes. In other embodiments, the at least one processor 118 may be configured to control the at least one optical deflector 114 so that the at least one optical deflector pivots along two linearly independent axes, thereby enabling two-dimensional scanning. Such deflector movement may be achieved by any of the techniques described above. Additionally, in some cases, the processing unit 108 controls a rotatable motor to steer the at least one optical deflector.

[0183]

[0255] As the scan of FOV 120 progresses, light reflections from certain regions of the FOV (e.g., region 122) can be used to determine the presence of objects within those regions of the FOV. For example, while scanning region 1108, reflections received from automobile 1110 can allow processing unit 108 to determine the presence of an object (i.e., an automobile) within region 1108 and the distance to that object. As a result of scanning region 1108, processing unit 108 can determine that an object is present within the region and that the object is at distance D1 relative to the host of LIDAR system 100. It should be noted that, optionally, processing unit 108 can determine more than one distance for a region of the FOV. This can occur, for example, if more than one object is reflecting light within the same FOV (e.g., in region 1120 of FIG. 12 , reflections from both automobile 1202 and the road can be received and analyzed), or if a reflective object is positioned to reflect light from different distances (e.g., from an inclined surface).

[0184]

[0256] However, scans of other regions of FOV 120 may not return observable reflections. In such cases, processing unit 108 does not detect the presence of an object in those regions. For example, as shown in FIG. 11 , regions 1120 and 1122 of FOV 120 do not return observable reflections during each scan of those regions. As a result, a depth map generated based on the reflections received for those regions of FOV 120 and the distance analysis performed does not indicate the presence of an object in regions 1120 or 1122. Based on the absence of available reflections in regions 1120 and 1122 (and other non-reflective regions), processing unit 108 can determine that no objects are present in those regions within the distance range detectable by LIDAR system 100 for a given set of operating parameters. For example, processing unit 108 may determine that automobile 1110 (or at least a portion of an automobile) is present within region 1108 at distance D1, and therefore, based on reflections received from this region, may determine that no objects are present in region 1120 at distance D1 relative to LIDAR system 100. This determination may be based on the assumption that if any objects were present in region 1120 at distance D1 (and assuming such objects have similar reflective properties as automobile 1110), processing unit 108 would identify the presence of those objects in the same way as it did in region 1108.

[0185]

[0257] In particular, a determination that an object is absent within a particular region of the FOV 120 may be based on the detection capabilities of the LIDAR system for a particular set of operating parameters. Altering these operating parameters, particularly in a manner that may increase the detection sensitivity of the LIDAR system (e.g., increase the signal-to-noise ratio), may enable objects to be identified in regions where no objects were detected prior to the change in operating parameters.

[0186]

[0258] In regions of the FOV where processing unit 108 determines that an object at distance D1 is absent (e.g., regions 1120 or 1122), processing unit 108 can alter light source parameters to project more light into one or more regions of the FOV than is projected into regions of the FOV where an object was detected. In the example shown in FIG. 11 , after not detecting an object (at distance D1 or another distance) in region 1120, processing unit 108 can alter light source parameters to project more light into region 1120 than was directed into region 1108 (where a portion of automobile 1110 was detected). This increase in the amount of light provided to region 1120 increases the signal-to-noise ratio in that region, improving the LIDAR system sensitivity in that region and allowing the system to detect objects with lower reflectivity and / or allowing the system to detect objects that may be located farther away (e.g., at a distance greater than D1).

[0187]

[0259] Various light source parameters can be modified to increase the amount of light delivered to a particular region of the FOV. For example, processing unit 108 can cause light source 112 to extend the duration of the continuous wave emission projected onto a particular region of the FOV, increase the total number of light pulses, increase the total light energy of the emitted light, and / or increase the power (e.g., peak power, average power, etc.) of one or more light pulses. Additionally or alternatively, the light pulse repetition rate per scan can be increased so that more light pulses are delivered to one region of the FOV than to another region of the FOV. More broadly, any light source parameters can be adjusted so that the light flux directed to one portion of the field of view (e.g., region 1120) is different (e.g., increased) from the light flux directed to another portion of the field of view (e.g., region 1108), for example, after determining that no object is present in the particular region at a particular distance or range of distances, or based on any other criteria related to the detection results for the particular region of the FOV. As mentioned above, when we say that more light is projected onto a particular area, we are referring to a given additional power per solid angle, an increase in irradiance relative to the size of the area, an additional light pulse, an increase in power per pixel, more photons in a given time period, an increase in total energy in a given time period, and a luminous flux density (W / m 2 ), an increase in the number of photons per scan cycle, an increase in the total energy in a particular time period, an increase in the number of emitted photons per data point in the generated point cloud model, an increase in the total energy per data point in the generated point cloud model.

[0188]

[0260] The various light source parameters can be modified in response to observing any criteria. For example, at least one pilot pulse can be emitted and detection results based on acquired reflections of the at least one pilot pulse can be observed. If the detection results of the particular region where the at least one pilot pulse is emitted indicate no object, no object at a particular distance (e.g., D1), fewer objects than expected, no object detected beyond a particular distance range, an object with low reflectivity detected, a low signal-to-noise ratio (or any other suitable criteria), the processing unit 108 can provide more light to the particular region (e.g., long continuous waves, additional pulses, higher power, etc.) using any of the techniques described above or any other technique for providing more light to the particular region. In some examples, a "pilot pulse" refers to a light pulse intended to use detected reflections to determine subsequent light emissions (e.g., for the same region of the FOV during the same scan). It should be noted that the pilot pulse may, but is not necessarily, lower in energy than the pulses of subsequent light emissions. In some cases, the pilot pulse corresponds to an initial light pulse (in an emission sequence) that is applied to a particular region of the LIDAR FOV.

[0189]

[0261] Alterations to various light source parameters may also be performed as part of a predetermined operational sequence. For example, in some embodiments, a predetermined illumination sequence for one or more regions 122 of FOV 120 may include providing a directed series of light pulses toward one or more regions 122 of FOV 120. A first light pulse may include a relatively low power, and one or more subsequent pulses may include a higher power level than the first emitted pulse. In some cases, these light pulses may be emitted at gradually increasing power levels. However, it should be noted that the series of pulses may have similar power levels per pulse, with the increase in light amount being achieved by cumulative emitted dose during the scan.

[0190]

[0262] Increasing the amount of light provided to a particular region of the FOV can be performed at various times during operation of the LIDAR system 100. In some embodiments, increasing the amount of light provided to a particular region of the FOV relative to another region can be performed during a simultaneous scan of the FOV. That is, during a particular scan of the FOV, the amount of light provided to a portion of the FOV associated with a particular instantaneous position of the deflector 114 can be greater than the amount of light provided to a portion of the FOV corresponding to a different instantaneous position of the deflector 114 during that particular scan of the FOV. Thus, in some embodiments, the processing unit 108 can be configured to modify light source parameters to project more light (e.g., higher irradiance per solid angle) to a particular region of the FOV during the same scan cycle in which the absence of an object (e.g., at a particular distance) is determined within other regions of the FOV.

[0191]

[0263] Alternatively, increasing the light provided to a particular region of the FOV relative to another region of the FOV can be performed during a different scan of the FOV. In other words, a complete scan of the FOV can be performed, and then during a subsequent scan of the FOV, more light can be provided to one or more regions of the FOV than other regions of the FOV based on the results of a previous scan of the FOV. In some cases, it is not necessary to perform a complete scan of the FOV and then return to a particular portion of the FOV to increase the amount of light provided to that particular region relative to the amount of light provided to another portion of the FOV. Such an increase can be performed by performing a partial scan of the FOV and then returning to a particular region of the FOV and increasing the amount of light provided to that region relative to the amount of light provided to that region during the previous scan (or partial scan) or relative to the amount of light provided to another region of the FOV.

[0192]

[0264] Increasing the amount of light provided to a particular region of the FOV, such as region 1120, may result in additional reflections that may enable detection of an object. Considering the increased amount of light provided to a particular region, the signal-to-noise ratio may be increased for the light collected from that region. As a result of the improved signal-to-noise ratio and / or considering the additional light (including, in at least some cases, higher power light) available for detection, it may be possible to detect the presence of an object at a greater distance from the LIDAR system than would be possible using less light in the particular FOV region.

[0193]

[0265] As an illustrative example, in some embodiments, a scan of FOV 120 of FIG. 11 may begin with a predetermined or default amount of light provided to each region 122 of the FOV. If an object is detected in a particular region, such as region 1108, processing unit 108 may move deflector 114 to a different instantaneous position to interrogate another area of ​​FOV 120 without emitting additional light to the region (e.g., region 1108). If an object is not detected in a particular region, such as region 1120, processing unit 108 may provide additional light to that region. The increased light may be performed during a current scan of the FOV and before moving deflector 114 to a new instantaneous position. Alternatively, the increased light for region 1120, for example, may be performed during a subsequent scan or partial scan of FOV 120. In some cases, increasing the amount of light provided to a region, such as region 1120, may detect an object that was not detected during interrogation of the particular FOV region using a lower amount of light. In an example where additional light is provided during a partial scan of FOV 120, a pilot pulse is provided to each region of one row while scanning in a first direction, and additional light is emitted while scanning back in the opposite direction to an area where no object is determined to be present, after which scanning of another row begins.

[0194]

[0266] In an illustrative example, if, based on one or more pilot pulses, no object is detected in region 1120 or no object is detected in region 1120 beyond a certain distance (e.g., distance D1 at which automobile 1110 is determined to be located), any of the techniques described above can be used to increase the amount of light directed to region 1120. For example, in one embodiment, one or more additional light pulses (optionally at a higher power level than the pilot pulse) can be provided to region 1120. Each of these additional light pulses can produce a subsequent reflection that can be detected by detection unit 106. As a result, an object such as automobile 1202 can be detected, as shown in FIG. 12 . In some cases, this object, such as automobile 1202, is located at a distance D2 that is greater than the distance at which an object was previously detected in the same or a different region (e.g., automobile 1110 is located at distance D1 and occupies region 1108 and a nearby region of the FOV). Thus, in this specific (and non-limiting) illustrative example, an initial pilot pulse of light provided to region 1120 and subsequent reflections may not detect an object at distance D1 (e.g., the distance at which automobile 1110 was detected in region 1108 based on the pilot pulse provided to region 1108). In response to the absence of an object observed in region 1120 at distance D1, one or more additional pulses (optionally, but not necessarily, higher power pulses or long continuous waves) may be provided to region 1120 to provide more light to region 1120. Based on these one or more additional pulses provided to region 1120 and each subsequent reflection, the presence of an object, such as automobile 1202, may be determined at distance D2, which is greater than distance D1 at which automobile 1110 was detected in region 1108.

[0195]

[0267] It should be noted that the light boost, and the particular protocol selected to provide the light boost, is specific to a particular region of the FOV, such as region 1120, which may correspond to a particular instantaneous position of deflector 114. Alternatively, the particular protocol selected to boost the light is not limited to a particular region of the FOV, such as region 1120, but may be shared by multiple regions of the FOV. For example, region 1204 of FOV 120 (encircled by a dashed line in FIG. 12 ) may include four particular regions of the FOV, each corresponding to a different instantaneous position of deflector 114. In some embodiments, the protocol selected to boost the light for any of the subregions of FOV region 1204 may be the same for all subregions. As a result, by applying a common light boost protocol to each subregion of FOV region 1204, multiple objects or a single object may be detected in those subregions at similar distances or distance ranges. 12, portions of automobile 1202 may be detected in each of different sub-regions of FOV region 1204 (e.g., at a distance D2 that is greater than distance D1 at which automobile 1110 was detected) by applying a common light enhancement protocol to the sub-regions of FOV region 1204. It should be noted that, optionally, the decision whether to increase light emission in one region of the FOV may depend (at least in part) on reflectance detection information in another region of the FOV.

[0196]

[0268] In addition to providing the ability to detect more distant objects by adding light to a particular region of the FOV, other objects may also be detected as a result of the increased light. For example, as shown in FIG. 11, a pilot pulse of light provided to region 1122 may not detect an object in region 1122. However, a subsequent increase in light provided to region 1122 and at least one resulting reflection may enable the detection of an object in region 1122, such as turtle 1206, as shown in FIG. 12. Turtle 1206 may be located at a distance D3 less than D1 (e.g., closer to the LIDAR system than car 1110), but may not have been detected in response to the initial pilot pulse provided to region 1122 because turtle 1206 has a lower reflectivity than car 1110 (the lower reflectivity of turtle 1206 may be the result of, for example, its partial size relative to region 1122 and / or the lower reflectivity of its shell). For example, one or more subsequent light pulses provided to region 1122 and their respective reflections may allow the detection of the less reflectivity turtle 1206. This approach of increasing light to regions of the FOV enables the detection of various objects that would not be detected based on the initial amount of light provided to that region of the FOV. For example, this technique can be used to detect objects such as distant curbs 1208 and 1210 and / or the horizon 1212 of road 1214 (at a distance D4 greater than D1, D2, and D3). At the same time, in regions of the FOV where objects such as car 1110 or tree 1216 are detected using the initial pulse (or a portion of the available optical budget), additional light increase may not be necessary, and the FOV scan can continue with different instantaneous positions of deflector 114.

[0197]

[0269] After detecting an object in a particular region of the FOV, deflector 114 can be moved to a new instantaneous position without further light emission, or, in some cases, additional light can be emitted while the deflector continues to direct light toward the corresponding particular region of the FOV. The resulting reflection from this supplemental light can provide further information about the particular region of the FOV and / or confirm a detection made based on a lower level of light applied to the same region. For example, in the illustrative example of FIGS. 11 and 12 , deflector 114 can be positioned to apply a pilot pulse to region 1120. The resulting reflection may not detect an object in region 1120. A second pulse can then be applied to region 1120 (e.g., at a higher power level than the pilot pulse). The reflection from the second pulse allows detection of vehicle 1202 at distance D2, which is greater than distance D1 at which vehicle 1110 was detected based on the reflection of the pilot pulse applied to region 1108. However, rather than detecting the vehicle 1202 in the region 1120 and then moving away from the region, the deflector 114 can remain at its instantaneous position corresponding to the region 1120. A third pulse (optionally at a higher power than the second pulse) can be applied to the region 1120. Subsequent reflections of the third pulse may not detect additional objects in the region 1120 (although they may). However, the reflection of the third pulse can confirm the determination (based on the reflection of the second pulse) that no object is present in the region 1120 at distance D1. The reflection of the third pulse can also confirm the detection of the vehicle 1202 at distance D2, which was determined based on the reflection of the second pulse applied to the region 1120. It should be noted that in some cases, none of the reflections of the first, second, and third pulses allows for the detection of an object in its respective region, but the combination of all of these reflections allows for detection. This may result in an improved SNR. Another example is a decision algorithm that can check the consistency of detection over several pulses.

[0198]

[0270] An increase in the amount of light applied to a specific region of the FOV120, whether it is with respect to the amount of light applied to other regions of the FOV or with respect to the amount of light applied to a specific region of the FOV during the same scan or a previous scan of the FOV, should be noted to be able to proceed according to any desired protocol. Such a protocol can be applied to all regions of the FOV, some regions of the FOV, or a single region of the FOV. A protocol for selectively increasing the light for any part of the FOV can be predefined or can be created during the scan of the FOV based on various criteria applied, for example, during an FOV scan (such as detection of an object within a specific region, etc.). If an object is detected within a specific region as a result of a specific projected light amount, during subsequent scans of the FOV, a similar light amount can be applied to that specific region. Such a technique can speed up object detection and FOV scanning by potentially eliminating the need to search for the object using an increased light amount. However, in some cases, it may be desirable to return to applying low-level light to a specific FOV region during subsequent scans of the FOV. For example, if the LIDAR system is moving towards an object that has already been detected, it is possible to detect the object again using a smaller light amount instead of the large light amount used in the first detection.

[0199]

[0271] By varying the amount of light applied to different regions during the scan of the LIDAR system FOV, the detection function and / or resolution of the LIDAR system can be improved. Also, based on the objects detected in each of the different regions of the FOV, a 3D map or reconstruction of the scene associated with the FOV can be generated using any suitable technique. For example, in some embodiments, a point cloud showing some or all of the objects detected within the FOV can be generated. Returning to the example of FIG. 12, the point cloud (or other 3D construction) can show the car 1110 at distance D1, the car 1202 at distance D2, and the turtle 1206 at distance D3. Here, D3 < D1 < D2. Each detected object represented in the 3D construction can be associated with a specific detection direction (φ / θ or x / y) or angle range.

[0200]

[0272] By selectively emitting light into different portions of the FOV based on the detection or absence of an object in different portions of the FOV, the LIDAR system 100 can achieve several functions, such as any one or more of the following: (a) speeding up object detection and scanning of the FOV by potentially eliminating the need to search for objects using increased amounts of light; (b) reducing the total energy used for detection across the FOV; (c) redirecting energy allocation to areas where it can have a greater impact; (d) reducing the environmental effects of the LIDAR system, for example, by reducing excess light emission in directions where objects are known to be present; and (e) reducing the processing requirements for processing extra detection signals.

[0201]

[0273] FIG. 13 provides a flowchart diagram of a method 1302 for detecting objects using a LIDAR system. During operation of the LIDAR system 100 according to embodiments disclosed herein, any or all steps may include controlling at least one light source to vary the light flux in scanning a field of view using light from the at least one light source. Also, any or all operational steps may include controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view. In step 1308, the method 1302 may use a first detected reflection associated with scanning a first portion of the field of view to determine the presence of a first object at a first distance within the first portion. In step 1310, the method 1302 may include determining that an object at the first distance is absent within a second portion of the field of view. In step 1312, after detecting the first reflection and determining that an object is absent within the second portion, the method 1302 may include modifying light source parameters such that more light is projected onto the second portion of the field of view than onto the first portion of the field of view. In step 1314, method 1302 may include determining that a second object is present at a second distance greater than the first distance using a second detected reflection in a second portion of the field of view. It should be noted that increasing the light flux to detect the second object in the second portion can be performed during the current scan of the FOV or during a subsequent scan of the FOV. Optionally, if steps 1310, 1312, and 1314 are performed after the detection of step 1308, any emission into the second portion of the FOV used to detect the second object occurs before any additional light is sent into the first portion (e.g., in a later scan cycle).

[0202]

[0274] In some embodiments, the method may include scanning the FOV 120 over multiple scan cycles, where a single scan cycle includes moving at least one optical deflector to multiple instantaneous positions. While the at least one optical deflector is positioned at a particular instantaneous position, the method may include deflecting a light beam from at least one light source toward an object within the field of view and deflecting reflections received from the object toward at least one sensor.

[0203]

[0275] Incremental flux assignment for Lidar detection

[0204]

[0276] As described above, if no object is detected in a second region of the LIDAR FOV at a first distance D1 while one or more objects are detected in a different region of the LIDAR FOV, the light flux for the second region can be varied. However, in addition to this, in some embodiments, the light flux for a particular region of the LIDAR FOV can be varied based on whether an object is detected in that region at any distance. For example, based on a first amount of light provided to a particular region of the LIDAR FOV, processor 118 can determine that no objects are present in that region within a distance S1 from the LIDAR system 100. In response to such a determination, processor 118 can provide more light to that particular portion of the FOV. The increased light can cause processor 118 to determine that no objects are present in that particular region within a distance S2 from the LIDAR system, where S2 > S1. In response to such a determination, more light can be provided to the particular region of the LIDAR FOV, and in response to this increased light, processor 118 can detect the presence of one or more objects at a distance S3 from the LIDAR system. where S3 > S2 > S1. Thus, this increase in light provided to a specific region of the LIDAR FOV can enhance the detection capability of the LIDAR system within that specific region. Furthermore, the disclosed progressive illumination scheme allows for long-range detection to be achieved with limited power consumption.

[0205]

[0277] FIG. 14 provides a schematic diagram of a LIDAR field of view 1410 and associated depth map scene representation that may be generated by LIDAR system 100. As shown, objects in the scene can be detected at distances within a range SO (the viewpoint of FIG. 14 ) that is relatively close to the LIDAR system. Range SO can cover various distance intervals depending on the operating parameters of LIDAR system 100. In some cases, SO represents a range from 0 m to 10 m. In other cases, SO corresponds to a range from 0 m to 20 m, 30 m, 50 m, etc.

[0206]

[0278] In some examples, the LIDAR system may determine that there is no object detected at a first distance S1 in a first portion of the field of view. For example, as shown in FIG. 14 , based on light (e.g., a first light emission) projected into a specific region 1412 of the LIDAR FOV 1410, the LIDAR system may identify various foreground objects, such as the surface of a road 1414, a curb 1416, and / or a sidewalk 1418. However, the processor 118 of the LIDAR system 100 may not detect an object at distance S1 within region 1412. That is, the processor 118 may determine that there is no object at distance S1 in region 1412 (and possibly even beyond). In some embodiments, distance S1 may be greater than distance S0. For example, S0 may include a range from 0 m to S1 being up to 20 m. In some examples, S1 may be equal to and / or less than distance S0. For example, if the first light emission in the relevant circumstances (e.g., ambient lighting conditions) allows detection of an object of a given reflectivity up to about 40 meters from the LIDAR system, the first light emission may cause the system to determine that there are no objects of at least such reflectivity at distances of 20 m, 30 m, 39 m, or even 40 m.

[0207]

[0279] There may be several reasons why LIDAR system 100 does not detect an object at distance S1 within region 1412. For example, in some cases, there may be no object at distance S1 within the region. However, in other cases, the amount of light projected onto region 1412 may be insufficient to detect an object at distance S1. This may be because these objects are characterized by low reflectivity, or because distance S1 falls outside the operating range of LIDAR system 100 for a particular set of operating parameters (e.g., duration, intensity, power level, etc., of the light projected onto region 1412).

[0208]

[0280] If no object is detected within region 1412 based on the first light emission, rather than abandoning detection of an object at distance S1 within region 1412, processor 118 can provide additional light flux to region 1412 to possibly detect objects at distances greater than S1. In other words, if processor 118 determines based on the first light emission that first portion 1412 of field of view 1410 is absent of an object to be detected, processor 118 can control the projection of at least a second light emission directed toward region 1412 of field of view 1410 to enable detection of an object at a second distance S2, which is greater than first distance S1, within region 1412. The second emission not only potentially increases the ability to detect objects at distance S2, but can also increase the likelihood that LIDAR system 100 will detect an object at distance S1.

[0209]

[0281] In some cases, processor 118 can cause light projector 112 and deflector 114 to project additional light into region 1412. For example, processor 118 can control the projection of at least a third light emission directed toward region 1412 of field of view 1410 to determine the presence of an object in region 1412 at a third distance S3 that is greater than second distance S2 that is greater than distance S1. As shown in FIG. 15 , the third light emission into region 1412 can enable detection of pedestrian 1510 (or at least a portion thereof) at distance S3 from LIDAR system 100. Although pedestrian 1510 may not have been detected in response to the first or second light emissions directed toward region 1412, the third emission into region 1412 allows the presence of pedestrian 1510 at distance S3 to be determined. Furthermore, the second and third light emissions, which enable detection of objects at a second distance S2 or a third distance S3 within region 1412, respectively, enable LIDAR system 100 to detect objects beyond the distance range S0 (e.g., curb 1416, road surface 1414, and / or sidewalk 1418). For example, as shown in FIG. 15, such objects are detected and mapped at distances up to and beyond S3.

[0210]

[0282] Thus, as described above, processor 118 can project additional optical emissions toward a particular region of the LIDAR FOV based on whether an object is detected at various distances within that region. For example, in one embodiment, processor 118 can be configured to control the projection of at least a third optical emission directed toward a particular portion / region of the LIDAR FOV if, based on the detection of at least one of the first and second optical emissions, it is determined that an object is absent within that portion / region at a first distance (e.g., S1 in FIG. 14 ). Furthermore, processor 118 can be configured to control the projection of at least a third optical emission directed toward a particular portion / region of the LIDAR FOV if, based on the detection of at least the second optical emission, it is determined that an object is absent within that portion / region at a second distance (e.g., S2 in FIG. 14 ).

[0211]

[0283] The distances S1, S2, and S3 may depend on specific operating parameters of the LIDAR system 100. These operating parameters may be selected to suit a particular deployment of the LIDAR system 100 (e.g., in a vehicle, building, aircraft, etc.), to suit particular climate conditions (e.g., sunny, rainy, snowy), or any other environmental conditions (e.g., rural versus urban environments, etc.). However, in some embodiments, the distance S1 may be 20 meters or less from the LIDAR system 100. The distance S3 may include distances greater than 100 meters, and the distance S2 may be between the distances S1 and S3. As discussed further below with respect to the concept of detection distance of a LIDAR system, it should be noted that the aforementioned detection distances (S0, S1, S2, S3) are not necessarily predetermined, and these distances may be determined based on the optical emission energy scheme used by the LIDAR system. Furthermore, the detection distance may also depend on other factors, such as the climate, ambient light conditions, visibility, and target reflectivity. 14 and 15, the detection range S0 is shown for simplicity as extending uniformly from the vertical plane in which the LIDAR system is located. However, as noted, any detection range is not necessarily uniform across various portions of the FOV, and these distances may be measured radially from a point located on the optical window of the LIDAR, rather than from the zero-distance plane (as shown).

[0212]

[0284] For any of the disclosed embodiments herein, a particular portion or region of the LIDAR FOV may, in some embodiments, refer to a single pixel of a scan of the FOV. In such embodiments, the particular portion of the FOV may correspond to a single instantaneous position of the deflector 114 as it moves through a range of positions / orientations to scan the LIDAR FOV. For example, with reference to FIG. 14 , region 1412 (e.g., a portion of the LIDAR FOV) may represent a single pixel of the LIDAR FOV 1410. However, in other embodiments, the particular region of the LIDAR FOV may include multiple pixels. For example, region 1520 of the LIDAR FOV may include multiple pixels, each of which corresponds to a different instantaneous position of the deflector 114. The individual pixels included in a region or portion of the FOV, such as the pixels included in region 1520, may be contiguous or discontinuous. In some cases, a portion of the FOV may represent a particular region of interest within the LIDAR FOV, and similar light emission protocols, etc., may be used.

[0213]

[0285] In some embodiments, the relative position of a particular portion of the LIDAR FOV within the LIDAR FOV can vary. For example, in some examples, the deflector 114 can be moved continuously (e.g., in a sweeping pattern, a raster pattern, randomly, pseudo-randomly) through multiple instantaneous positions, each corresponding to a particular region of the LIDAR FOV. In the process described above, there can be a certain amount of time between a first light emission for a particular portion of the FOV and a second light emission for the same portion of the FOV. During that time, the deflector 114 can move such that the exact instantaneous position of the deflector during the first emission is different from the exact instantaneous position during the second emission. Similarly, the exact instantaneous position of the deflector during the third emission can be different from the exact instantaneous position during the first and second emissions. As a result, the regions of the LIDAR FOV illuminated by the first, second, and third emissions can be slightly different relative to one another. However, for purposes of this disclosure, grouped light emissions or multiple light emissions projected onto substantially overlapping regions of the LIDAR FOV are considered to be directed to the same region of the LIDAR FOV. In other words, in some embodiments, a particular portion of the LIDAR FOV may correspond to a single instantaneous position of the deflector 114. In other embodiments, a particular portion of the LIDAR FOV may correspond to more than one instantaneous position of the deflector 114.

[0214]

[0286] As described above, by monitoring and / or processing the output of one or more sensors, such as sensor 116, processor 118 can determine both the presence of an object within a particular region of the LIDAR FOV or the absence of an object within that same region. For example, as shown in FIG. 14 , reflections of light projected onto FOV region 1412 enable detection and depth mapping of objects such as road surface 1414, curb 1416, or sidewalk 1418, particularly at distances within the S range. However, the same light projection onto region 1412 may not provide object detection or depth mapping capabilities at distance S1 or even greater distance S2 from the LIDAR system. In such cases, based on information obtained from available reflections of light from region 1412, processor 118 can determine the absence of objects within region 1412 at distances greater than S, such as S1, S2, etc.

[0215]

[0287] A determination that an object is absent may not actually mean that no object is present in a particular region of the LIDAR FOV. As described above, such a determination may be made when the detector 116 receives insufficient light reflections from a particular region to detect an object in that region. A determination that an object is absent may also be made, for example, when reflections are collected but the information is insufficient to determine ranging information for at least one reflector source or to generate a depth map based on one or more reflections. However, as described with respect to FIGS. 14 and 15 , increasing the light flux level to a particular region of the FOV may result in the detection of a previously undetected object. Object detection may also not involve a binary process (e.g., either a reflection from an object is received or no reflection is received at all). Rather, detection may require the detector 116 to receive enough light reflections for the processor 118 to recognize the presence of an object in the particular region into which light is projected. Therefore, whether detection occurs may depend on various factors, such as the reflectivity of the object and the distance to the object. As described herein, a light projection that is described as enabling detection at a discrete distance may correspond to a light projection that results in positive detection in a particular percentage of cases (e.g., at least 50%, 75%, 90%, 99%, or more of cases involving a light projection of a particular feature set) involving an object with a particular level of reflectivity (e.g., a reflectivity level of at least 2.5%, 5%, 10%, etc.).

[0216]

[0288] Using the above-described process for increasing the light flux for a particular region of the LIDAR FOV based on whether an object is detected at various distances within that region, a scan of the LIDAR FOV can be performed to detect multiple objects using light projections from anywhere within the light projection sequence associated with that particular FOV region. For example, in some cases, an object may be detected in one region of the LIDAR FOV using only the first light emission. Only after providing a second, third, etc. light emission to other regions of the LIDAR FOV can objects be detected in those regions by scanning those portions. In the exemplary embodiment depicted in FIGS. 14 and 15, the first light emission into FOV region 1530 can detect road surface 1414. In region 1412, the first light emission can detect objects such as sidewalk 1418, curb 1416, and road 1414, at least within a certain range (S0 or S1 shown in FIG. 14). A subsequent (e.g., second) optical emission directed toward region 1412 allows detection of sidewalk 1418, curb 1416, and road 1414 over an even wider range (e.g., S2). A third optical emission directed toward region 1412 allows detection of pedestrian 1510 at distance S3. Similar results can be achieved in one or more other regions of FOV 1410. Of course, some regions may receive only one optical emission (or no optical emissions), while other regions may receive multiple optical emissions. As a result, a particular scan of the LIDAR FOV may include objects detected based on the first optical emission, the second optical emission, and / or the third optical emission, etc., depending on the number of optical emissions projected into a particular region.

[0217]

[0289] There are various techniques that can be used to increase the light flux to a particular region of the LIDAR FOV, including those described above or below. In some examples, the processor 118 can control the light projector 112 (e.g., its aiming direction, power level, light intensity, wavelength, pulse width, duration of continuous wave application, etc.) to vary the light flux to a particular region of the FOV. In other cases, the processor 118 can control at least one light deflector 114 to vary the light flux (e.g., by controlling the orientation and therefore the direction of projection to a particular region of the FOV, controlling the amount of time light is projected onto a particular region of the FOV, etc.).

[0218]

[0290] Additionally, the processor 118 can control both at least one aspect of the optical projector 112 and at least one aspect of the deflector 114 to control the amount of light received by a particular region of the FOV. For example, in some embodiments, the processor 118 can control the optical projector 112 to emit multiple optical energy emissions. The processor 118 can also control the optical deflector 114 so that a first optical emission, a second optical emission, and a third optical emission provided by the optical projector 112 are all projected onto a particular portion of the LIDAR FOV corresponding to a single instantaneous position of the optical deflector 114 (or at least closely spaced instantaneous positions of the deflector). Each of the first, second, and third optical emissions can have similar characteristics (e.g., power level, duration, number of pulses, wavelength, etc.). Alternatively, one or more of the first, second, and third optical emissions can have different characteristics. For example, one or more of these emissions can exhibit a higher power level than the others. In some embodiments, the power levels associated with the first, second, and third optical emissions may increase gradually with each emission. Also, in some embodiments, the processor 118 may be configured to control the optical projector 112 (which may include a multi-wavelength light source or multiple light sources, each capable of emitting light at a different wavelength) so that the first optical emission projected onto the particular region of the FOV has a different wavelength from both the second and third optical emissions directed to the particular region of the FOV. In some examples, the first, second, and third optical emissions each include a single pulse (optionally, these pulses may be of similar characteristics). In some examples, the first, second, and third optical emissions each include the same number of pulses (optionally, these pulses may be of similar characteristics). In some examples, the first, second, and third optical emissions each include one or more pulses (optionally, these pulses may be of similar characteristics).

[0219]

[0291] In some embodiments, each of the light emissions projected onto a particular region of the LIDAR FOV may have a similar light intensity (e.g., substantially the same light intensity). However, in other embodiments, the processor 118 may cause the light intensities of the various light emissions from the light projector 112 to differ. For example, the processor 118 may be configured to control the light projector 112 so that a second light emission has a greater light intensity than a first light emission provided by the light projector 112 for a particular region of the FOV. Similarly, the processor 118 may control the light projector 112 so that a third light emission from the light projector 112 for a particular region of the FOV has a greater light intensity than the second light emission.

[0220]

[0292] Similarly, each of the optical emissions projected onto a particular region of the LIDAR FOV may have a similar power level. However, in other embodiments, the processor 118 may vary the optical power levels of the various optical emissions from the optical projector 112. For example, the processor 118 may be configured to control the optical projector 112 so that a second optical emission provided by the optical projector 112 to a particular region of the FOV has a power level that is greater than the power level of a first optical emission. Similarly, the processor 118 may control the optical projector 112 so that a third optical emission from the optical projector 112 to a particular region of the FOV has a power level that is greater than the power level of the second optical emission. In still other cases, the power level associated with one or more optical emissions subsequent to a first optical emission onto a particular region of the LIDAR FOV may be lower than the power level associated with the first optical emission. Additional optical emissions provided onto a particular region of the LIDAR FOV may result in increased accumulated optical energy with each emission. This may increase the likelihood of object detection in the area, including gradually increasing detection distances.

[0221]

[0293] Given the cumulative effect of optical energy imparted to a particular portion of the LIDAR FOV, different optical emissions or pulses can be used together to detect objects in that portion of the FOV. For example, in some embodiments, processor 118 can use a third optical emission projected into a particular region of the FOV together with one or both of the first and second optical emissions projected into that region to determine the presence of an object in that region. Furthermore, the cumulative optical energy allows for an increased detection range. Using the first emission and one or both of the second and third emissions, processor 118 can detect objects at a distance (e.g., S3) greater than the detection distance associated with either the second emission alone (e.g., S2) or the first emission alone (e.g., S0).

[0222]

[0294] In addition to detecting objects using multiple light emissions, the multiple light emissions can also be used to generate data points used to generate a depth map representing objects in a scene. For example, in some embodiments, the data points for the depth map can be generated based on only a first light emission projected onto a particular region of the LIDAR FOV. In other embodiments, the data points for the depth map can be generated based on a combination of the first emission and a second and / or third emission (or more) projected onto a particular region of the FOV.

[0223]

[0295] Furthermore, at different times (e.g., in different scans of the LIDAR FOV), different combinations of optical emissions can be used to detect a particular object. In some examples, at time T0, a combination of multiple optical emissions (e.g., two, four, or more emissions) is required to detect the presence of a pedestrian 1510 ( FIG. 15 ). As the distance to the pedestrian 1510 decreases (e.g., as the vehicle in which the LIDAR system 100 is deployed approaches the pedestrian 1510), fewer optical emissions may be required to detect the pedestrian 1510. For example, if the distance to the pedestrian 1510 is less than S0, the pedestrian 1510 can be detected based on a single optical emission in a particular region of the LIDAR FOV during a subsequent scan.

[0224]

[0296] In the described embodiments for dynamically varying the amount of light flux provided to a particular region of the LIDAR FOV during a scan of the FOV, more light can be projected onto the particular region of the FOV than onto one or more other regions of the FOV during a scan of the LIDAR FOV. For example, processor 118 can be configured to modify light source parameters associated with light projected onto a first portion of the LIDAR FOV such that the light flux directed to the first portion is greater than the light flux directed to at least one other portion of the LIDAR FOV during the same scan cycle of the FOV. Processor 118 can also monitor the amount of light provided to various regions of the FOV to ensure compliance with applicable regulations. For example, processor 118 can be configured to control light projector 112 such that the accumulated energy density of light projected onto a particular region of the LIDAR FOV does not exceed a maximum permissible exposure limit (within a single scan of the FOV or across multiple scans of the FOV).

[0225]

[0297] For example, processing unit 108 can control the progressive projection of light onto portions of the LIDAR FOV to intermittently determine that an object has been detected in each portion of the LIDAR FOV, and if an object is detected, control the light emission into that portion of the FOV to stay within safe light emission limits that will not harm the detected object. These techniques may be implemented complimentary, i.e., processing unit 108 may control the projection of light onto portions of the LIDAR FOV to intermittently determine that an object has been detected in each portion of the LIDAR FOV to keep the light emission into that portion of the FOV within safe light emission limits that will not harm the detected object. The LIDAR 108 can enforce a stop condition (preventing the removal of the maximum allowable exposure limit) while contingently continuously checking whether additional light is needed (e.g., by determining that the light projected so far into a portion of the LIDAR FOV is insufficient to effectively detect an object).

[0226]

[0298] The LIDAR system 100 may include an auxiliary signal processor (not shown) for rapid processing of reflected signals from earlier light emissions (e.g., the first light emission, the second light emission). This allows for rapid decisions regarding later light emissions (e.g., the second light emission, the third light emission), particularly when these emissions are performed within the same scan cycle, and particularly when these emissions are performed while the optical deflector is still in substantially the same instantaneous position. Rapid decisions regarding later emissions may include determining whether additional emissions (e.g., the second light emission, the third light emission) are necessary and may also include determining parameters for the subsequent emissions for each segment. It should be noted that some or all of the circuitry of the auxiliary signal processor may be different from the circuitry of the range estimation module used to determine various points in the 3D model. This is because rapid decisions do not necessarily require accurate range estimates (e.g., determining the presence or absence of an object may be sufficient). Another reason for using different circuits is that the main range estimation circuit may not be fast enough to make decisions at a rate necessary to provide additional light emissions at the same instantaneous position of at least one optical deflector. It should be noted that the processing results of such an auxiliary signal processor may be insufficient for range estimation. Optionally, the auxiliary signal processor may be an analog processor that processes analog detection signals (e.g., voltages), and the main range estimator module may be (or include) a digital signal module that processes the detection information after analog-to-digital conversion. Furthermore, it should be noted that to prevent excessive light energy emissions (e.g., for eye safety reasons), an identical (or similar) auxiliary signal processing module may be implemented in LIDAR system 100 and used to detect objects in the area adjacent to the LIDAR system. This will be discussed in more detail below.

[0227]

[0299] The increase in light flux provided to a particular portion of the LIDAR FOV may proceed according to any suitable protocol. For example, in some embodiments, the first, second, and third optical emissions (or more or fewer emissions) may be projected onto a particular region of the LIDAR FOV, as described above, and then the deflector 114 may be moved to different instantaneous positions to scan different regions of the FOV. In other words, the processor 118 may be configured to control the deflector 114 such that the first, second, and third optical emissions are projected onto a particular portion of the LIDAR FOV in a single scan cycle.

[0228]

[0300] In other cases, multiple optical emissions designated for a particular region of the LIDAR FOV can be projected onto that portion of the FOV during different scans of the FOV. For example, processor 118 can be configured to control deflector 114 such that one or more of the first optical emission, the second optical emission, and the third optical emission are projected onto a particular portion of the LIDAR FOV during different scan cycles.

[0229]

[0301] The disclosed embodiments can be used to perform a method for detecting an object using a LIDAR system. For example, as described above, detecting an object with the LIDAR system 100 can include controlling at least one light source to vary the light flux in scanning the LIDAR field of view using light from the at least one light source. As shown in FIG. 16 , the method for detecting an object with the LIDAR system 100 can include controlling the projection of at least a first light emission directed to a first portion of the field of view (step 1620) to determine the absence of an object at a first distance within the first portion of the field of view (step 1630). The method can also include, if the absence of an object is determined in the first portion of the field of view based on the at least the first light emission, controlling the projection of at least a second light emission directed to the first portion of the field of view to enable detection of an object at a second distance greater than the first distance within the first portion of the field of view (step 1640). The method may also include controlling the projection of at least a third optical emission directed toward the first portion of the field of view to determine that an object is present within the first portion of the field of view at a third distance greater than the second distance (step 1650).

[0230]

[0302] Adaptive noise reduction for different parts of the visual field.

[0231]

[0303] In LIDAR systems according to embodiments of the present disclosure, captured signals may include noise. Noise can come from a variety of sources. For example, some noise may originate from the detector (e.g., the sensing unit 106 in FIGS. 4A to 4C ) and may include background noise, amplification noise, etc. Furthermore, some noise may originate from the environment and may include ambient light, etc. For example, if a LIDAR system projects light into space, toward an object that is very far away, or toward other areas where reflection is minimal, the ambient noise may be large relative to the reflected signal. On the other hand, if a LIDAR system projects light toward an object located in a dark area of ​​the field of view, the ambient noise may be small relative to the reflected signal. In one example, ambient light may include light that reaches the LIDAR system directly from an external light source (e.g., the sun, automobile headlights, electric lighting devices). As another example, ambient light may include light from an external light source that reaches the LIDAR system after being deflected (e.g., reflected) by objects within the FOV (e.g., reflection of light from metallic or non-metallic surfaces, deflection by the atmosphere, glass, or other transparent or opaque objects, etc.).

[0232]

[0304] The systems and methods of the present disclosure can collect data on a pixel-by-pixel basis (e.g., for the sensing unit 106). Additionally, LIDAR systems according to embodiments of the present disclosure can accommodate noise from various sources, which can also be performed on a pixel-by-pixel basis.

[0233]

[0305] As used herein, the term "pixel" is used broadly to include a portion of a LIDAR system's FOV that is processed into an element of a model derived from an object within the FOV. For example, when processing sensor detection data to provide a point cloud model, a "pixel" of the FOV may correspond to a portion of the FOV that is converted into a single data point in the point cloud model. In one example, the dimensions of a pixel can be given in terms of a solid angle, or two angles (e.g., φ and θ) of its angular size. In some embodiments, a single "pixel" of the FOV can be detected by multiple sensors (e.g., multiple SiPM detectors) to provide multiple corresponding data points of a 3D model. In a scanning system, a pixel of the FOV can be substantially the same angular size as a laser beam projected onto a scene or smaller than the angular size of the beam (e.g., if the same beam covers several pixels). A pixel the same size as the laser beam spot means that most (e.g., more than 50%, more than 70%, more than 90%, etc.) of the laser beam photons emitted within that portion of the FOV are defined as each pixel. In some embodiments, any two pixels of the FOV can be completely non-overlapping. However, optionally, some pixel pairs may partially overlap each other.

[0234]

[0306] The systems and methods of the present disclosure may enable noise estimation, mitigation, and possibly elimination, for example, by modifying a detector (e.g., the sensing unit 106 of FIGS. 4A-4C). FIG. 17 illustrates an example method 1700 for modifying sensor sensitivity in a LIDAR system. Method 1700 may be performed by at least one processor (e.g., the processor 118 of the processing unit 108 of the LIDAR system 100 shown in FIG. 1A and / or two processors 118 of the processing unit 108 of the LIDAR system shown in FIG. 2A).

[0235]

[0307] In step 1701, processor 118 controls at least one light source (e.g., light source 112 in FIG. 1A , laser diode 202 of light source 112 in FIG. 2A , and / or multiple light sources 102 in FIG. 2B ) to vary a light beam in scanning a field of view (e.g., field of view 120 in FIGS. 1A and 2A ). For example, processor 118 may vary the timing of pulses from at least one light source. Alternatively, or simultaneously, processor 118 may vary the length of pulses from at least one light source. As another example, processor 118 may alternatively or simultaneously vary the size of pulses from at least one light source (e.g., by changing the length or width or otherwise cross-sectional area). In yet another example, processor 118 may alternatively or simultaneously vary the amplitude and / or frequency of pulses from at least one light source. In yet another example, processor 118 may alter parameters of continuous wave (CW) or quasi-CW optical emission (e.g., its amplitude, modulation, phase, etc.).

[0236]

[0308] In some embodiments, the field of view (e.g., field of view 120 in FIGS. 1A and 2A ) may include at least a first portion and a second portion. For example, the first portion and the second portion may include half, a quarter, or other percentage of the area covered by the field of view. In other examples, the first portion and the second portion may include symmetrical and / or irregular portions of the area covered by the field of view rather than a percentage. In yet another example, the first portion and the second portion may include discontinuous portions of the area covered by the field of view. In some examples, the first portion of the FOV may be one FOV pixel, and the second portion of the FOV may be another pixel. In yet another example, the first portion of the FOV may include several FOV pixels, and the second portion of the FOV may include different groups of the same number of pixels. In some embodiments, the first portion and the second portion of the FOV may partially overlap. Alternatively, the first portion and the second portion may be completely non-overlapping.

[0237]

[0309] Step 1701 may further include controlling at least one optical deflector (e.g., optical deflector 114 of FIG. 1A, deflector 114A and / or deflector 114B of FIG. 2A, and / or one-way deflector 214 of FIG. 2B) to scan the field of view. For example, processor 118 may effect mechanical movement of the at least one optical deflector to scan the field of view. Alternatively or simultaneously, processor 118 may induce a piezoelectric or thermoelectric change in the at least one deflector to scan the field of view.

[0238]

[0310] In some embodiments, a single scan cycle of the field of view may include moving at least one optical deflector such that the at least one optical deflector is located at multiple different instantaneous positions during the scan cycle (e.g., the deflector is controlled to move from or through one instantaneous position to another instantaneous position during a scan of the LIDAR FOV). For example, the at least one optical deflector may be moved continuously or non-continuously from one to another of the multiple positions during the scan cycle (optionally with additional positions and / or repetitions).

[0239]

[0311] In such an embodiment, the processor 118 can coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is positioned at a particular instantaneous position, a light beam is deflected from the at least one light source toward the field of view by the at least one optical deflector, and reflections from objects in the field of view are deflected by the at least one optical deflector toward the at least one sensor. Thus, the at least one optical deflector can both direct the light beam toward the field of view and receive reflections from the field of view. For example, in the examples shown in FIGS. 1A, 2B, and 2C, the deflector directs the light beam toward the field of view and receives reflections from the field of view. In some embodiments, the reflections can be caused by the light beam directed toward the field of view. In other embodiments, the light beam from the at least one light source can be directed toward the field of view by at least one optical deflector that is separate from at least one other optical deflector that receives reflections from the field of view. For example, in the example shown in FIG. 2A, one deflector directs a light beam towards the field of view, and a separate deflector receives reflections from the field of view.

[0240]

[0312] In step 1703, the processor 118 receives a signal from at least one sensor (e.g., the sensing unit 106 of FIGS. 4A-4C) for each pixel. For example, the signal may represent at least one of ambient light and light from at least one light source reflected by objects within the field of view. As noted above, in some embodiments, such as embodiments in which objects are dark and / or distant, the ambient light may account for a larger portion of the signal than the reflected light. In other embodiments, such as embodiments in which objects are bright and / or close, the ambient light may account for a smaller portion of the signal than the reflected light.

[0241]

[0313] The received signal may further represent at least one of ambient light and a combination of light from at least one light source reflected by objects within the field of view and noise associated with the at least one sensor. For example, background noise, amplified noise, etc. may be combined with the ambient light and / or reflected light in the signal. In particular, the signal from the at least one sensor may include noise resulting from the amplification electronics.

[0242]

[0314] The received signals may be associated with different portions of the field of view. For example, at least one signal may be associated with a first portion of the field of view and at least one other signal may be associated with a second portion of the field of view. In some embodiments, each signal may be associated with a specific portion of the field of view. In other embodiments, some and / or all of the signals may be associated with multiple portions of the field of view (e.g., in embodiments where the portions of the field of view have overlapping sections).

[0243]

[0315] In some embodiments, step 1703 may further include receiving signals for different pixels at different times. For example, if at least one deflector is moved during a scan cycle as described above, processor 118 may receive signals corresponding to different pixels at different times depending on when the at least one deflector is in a particular instantaneous position.

[0244]

[0316] In step 1705, processor 118 estimates noise in at least one of the signals associated with the first portion of the field of view. Processor 118 may use a variety of noise estimation techniques, individually or in combination, to estimate the noise in the at least one signal. Examples of noise estimation techniques are discussed below with reference to Figures 18 and 19.

[0245]

[0317] In some embodiments, processor 118 can estimate the noise in each portion of the field of view (each portion can be less than 10%, less than 5%, less than 1%, or less than 0.1% of the field of view) based on reflections associated with a single position of at least one optical deflector. For example, processor 118 can extrapolate the estimated noise from a single position to other positions in the same portion. In some embodiments, extrapolation can include copying the estimated noise from a single position to other positions.

[0246]

[0318] In other embodiments, extrapolation may include applying one or more functions to the estimated noise from a single location to generate output estimated noise for other locations. For example, the function may be a function of the distance between the other locations and the single location, the difference in actual and / or predicted brightness between the other locations and the single location, the difference between previously estimated noise at the other locations and the currently estimated noise at the single location, etc. The function may output an estimate at the other locations directly, output an adjustment factor (e.g., by adding, subtracting, multiplying, etc.) to convert the estimated noise at the single location to an estimate at the other locations, or perform a convolution or other operation on the estimated noise at the single location to generate an estimate or adjustment factor at the other locations. Similarly, in some examples, processor 118 may estimate the noise at a single location based on noise estimates (or initial signals) for multiple other portions of the FOV, for example, by averaging noise estimates from locations surrounding the FOV portion.

[0247]

[0319] In some embodiments, each portion may comprise less than 10% of the field of view. In some embodiments, each portion may comprise less than 5% of the field of view. For example, each portion may comprise less than 1% of the field of view. As another example, each portion may comprise less than 0.1% of the field of view.

[0248]

[0320] Alternatively or simultaneously, processor 118 may estimate noise in a signal associated with a particular portion of the field of view based on a comparison of signals associated with the particular portion of the field of view received in at least one previous scan cycle. For example, processor 118 may apply one or more functions to at least one previous signal to generate an output of estimated noise for other locations. For example, the function may be a function of the time between the previous signal and the current signal, the difference in actual and / or predicted brightness between the previous and current signals, previously estimated noise in the previous signal, etc. The function may output a noise estimate for the current signal directly, output an adjustment factor (e.g., for adding, subtracting, multiplying, etc.) to convert the estimated noise of the previous signal to an estimate of the current signal, or perform a convolution or other operation on the estimated noise of the previous signal to generate an estimate or adjustment factor for the current signal.

[0249]

[0321] In step 1707, processor 118 may modify sensor sensitivity to reflections associated with the first portion of the field of view based on an estimate of noise in the first portion of the field of view. For example, the sensor sensitivity may be based on a signal threshold. In some embodiments, processor 118 may increase the signal threshold for the first portion relative to the signal threshold for the second portion. Processor 118 may do this, for example, if the noise estimate for the first portion is greater than the noise estimate for the second portion. Thus, the greater the signal threshold for the first portion, the more estimated noise may be removed.

[0250]

[0322] In some embodiments, sensor sensitivity can be varied at one or more detectors of the sensor. Alternatively, or simultaneously, sensor sensitivity can be varied at processor 118. For example, a signal threshold can be varied for pre-processed or post-processed data. In one example, a sensor outputs analog data, which can be converted to digital samples (e.g., amplitude versus time). After correlating (e.g., convolving) the digital samples with a function representing the expected signal (as described below with reference to FIG. 18), a signal threshold can be applied to the output of the correlation.

[0251]

[0323] In some embodiments, processor 118 can change the sensor sensitivity to reflections associated with a portion of the FOV by changing operating parameters of processor 118. Changing the operating parameters in such cases can modify sensor sensitivity by changing the sensitivity of detection to the signal level and / or noise level acquired by at least one sensor. For example, processor 118 can change sensor sensitivity by changing the post-convolution threshold (e.g., steps 1707 and / or 17011), as discussed in the previous paragraph. However, other operating parameters of processor 118 can also be changed by processor 118 in response to the noise level to change sensor sensitivity.

[0252]

[0324] As a further example, the processor 118 may estimate the noise level due to background noise and / or amplification noise and modify the sensor sensitivity to have a minimum threshold value higher than this estimated noise level. The estimated noise may thus be minimized, if not eliminated or eliminated, by setting the minimum threshold value accordingly.

[0253]

[0325] In some embodiments, the processor 118 can change the sensor sensitivity to reflections associated with a portion (e.g., a first portion) of the field of view corresponding to a single instantaneous position of the at least one optical deflector. For example, the processor 118 can change the sensor sensitivity only during the time the at least one optical deflector is at a particular instantaneous position. In other embodiments, the processor 118 can change the sensor sensitivity to reflections associated with a portion (e.g., a first portion) of the field of view corresponding to multiple instantaneous positions of the at least one optical deflector. For example, the processor 118 can change the sensor sensitivity during various times when the at least one optical deflector is at different positions among the multiple instantaneous positions. In some embodiments, the changed sensitivity can be the same for the multiple instantaneous positions. That is, the processor 118 can change the sensor sensitivity in the same way during the time the at least one optical deflector is at one of the multiple instantaneous positions. In other embodiments, the changed sensitivity can be different for the multiple instantaneous positions. That is, the processor 118 can change the sensor sensitivity during the time that the at least one optical deflector is in one of the plurality of instantaneous positions so that it is different from when the at least one optical deflector is in another of the plurality of instantaneous positions.

[0254]

[0326] Alternatively or simultaneously, step 1707 may further include individually modifying sensor sensitivity to reflections associated with the first and second portions such that, for the same amount of light projected onto the first and second portions, the detection distance associated with the first portion is greater (e.g., by at least 50%) than the detection distance associated with the second portion. Thus, the detection distance can be increased by increasing the sensor sensitivity (and / or decreasing the minimum threshold and / or increasing the maximum threshold) for the first portion.

[0255]

[0327] Alternatively or simultaneously, step 1707 may further include individually modifying sensor sensitivities to reflections associated with the first and second portions such that, for the same amount of light projected onto the first and second portions, the resolution associated with the first portion is greater than the resolution associated with the second portion. Thus, increasing the sensor sensitivity of the first portion (and / or decreasing the minimum threshold and / or increasing the maximum threshold) can increase the resolution.

[0256]

[0328] In some embodiments, step 1707 may be performed only after step 1705 is completed. Furthermore, in some embodiments, a change in sensor sensitivity for a portion of the FOV (e.g., steps 1707 and 1711) may be performed after a corresponding noise estimation for each portion of the FOV that is the basis for the change (e.g., steps 1705 and 1709, respectively), without measuring other portions of the FOV. Similarly, in some embodiments, a change in sensor sensitivity for a portion of the FOV (e.g., steps 1707 and 1711) may be performed after a corresponding noise estimation for each portion of the FOV that is the basis for the change (e.g., steps 1705 and 1709, respectively), without moving at least one deflector to a different instantaneous position.

[0257]

[0329] In step 1709, processor 118 estimates noise in at least some of the signals associated with the second portion of the field of view. As discussed above, processor 118 can estimate noise in at least some of the signals using a variety of noise estimation techniques, individually or in combination. Processor 118 can use the same noise estimation technique or techniques in steps 1705 and 1709, or can use one or more different noise estimation techniques in steps 1705 and 1709. In some embodiments, processor 118 can determine that a particular noise estimation technique is appropriate for the first portion and a different noise estimation technique is appropriate for the second portion. For example, processor 118 may determine that the first portion has a larger noise contribution from amplification, e.g., because the first portion is darker than the second portion and therefore has greater amplification. In such an example, processor 118 can use a different technique to estimate noise in the first portion that is responsible for the larger amplification noise. Examples of noise estimation techniques are discussed below with reference to FIGS. 18 and 19. Optionally, the estimation of noise in the second portion of the FOV in step 1709 may depend on the result of step 1705. Alternatively, the estimation of noise in the first and second portions of the FOV (steps 1705 and 1709, respectively) may be completely unrelated and independent of each other.

[0258]

[0330] In some embodiments, processor 118 may report the noise estimates generated in steps 1705 and / or 1709 to another system (e.g., an external server). Furthermore, processor 118 may report one or more noise-indicative and / or noise-related parameters based on each noise estimate obtained by processor 118. Each parameter may be specific to a respective portion of the FOV or specific to a larger portion of the FOV that includes the respective portion of the FOV. Examples of reported parameters include, but are not limited to, a noise estimate, one or more sensitivity settings, a detection distance, a detection quality indicator, etc. In some embodiments, the report may include one or more parameters indicative of the modified sensor sensitivity from steps 1707 and / or 1711.

[0259]

[0331] In step 1711, processor 118 may modify sensor sensitivity to reflections associated with the second portion of the field of view based on an estimate of noise in the second portion of the field of view. For example, the sensor sensitivity may include a signal threshold. In some embodiments, processor 118 may increase the signal threshold for the second portion relative to the signal threshold for the first portion. Processor 118 may do this, for example, if the noise estimate for the second portion is greater than the noise estimate for the first portion. Thus, the greater the signal threshold for the first portion, the more estimated noise may be removed.

[0260]

[0332] As an example, the processor 118 can estimate the noise level due to background noise and / or amplification noise and modify the sensor sensitivity to have a minimum threshold higher than this estimated noise level. Thus, the estimated noise can be minimized, if not eliminated or eliminated, by setting the minimum threshold. The modified sensor sensitivity to the reflection associated with the second portion can be different from the modified sensor sensitivity to the reflection associated with the first portion.

[0261]

[0333] In some embodiments, as discussed above, processor 118 can vary the sensor sensitivity to reflections associated with a portion (e.g., second portion) of the field of view that corresponds to a single instantaneous position of at least one optical deflector. In other embodiments, as discussed above, processor 118 can vary the sensor sensitivity to reflections associated with a portion (e.g., second portion) of the field of view that corresponds to multiple instantaneous positions of at least one optical deflector.

[0262]

[0334] In some embodiments, processor 118 can change the sensor sensitivity to a first reflection associated with a first portion received in a first scan cycle and change the sensor sensitivity to a second reflection associated with a second portion received in a second scan cycle. For example, steps 1705 and 1707 can be performed in the first scan cycle and steps 1709 and 1711 can be performed in the second scan cycle. In some aspects, the first scan cycle can be performed temporally before the second scan cycle. Alternatively, the second scan cycle can be performed temporally before the first scan cycle.

[0263]

[0335] In other embodiments, processor 118 can vary sensor sensitivity to a first reflection associated with the first portion and a second reflection associated with the second portion, where the first and second reflections are received in a single scan cycle. For example, steps 1705 and 1707 can be performed in the same scan cycle as steps 1709 and 1711.

[0264]

[0336] Step 1707 and / or step 1711 may further include making different changes to the sensor sensitivity to reflections associated with the first and second portions so that, after detecting an external light source at a first distance in the first portion, an object at a second distance greater than the first distance can be detected in the second portion. Thus, the sensor sensitivity for the second portion may be increased (and / or the minimum threshold and / or the maximum threshold may be decreased) to compensate for an external light source in the first portion that may cause noise in the second portion. In another example, after detecting an object at a first distance in the first portion, processor 118 may change the sensor sensitivity in the second portion to enable detection of an object at a greater distance than the first object. In yet another example, processor 118 may change the sensor sensitivity so that an object that was not visible in the first portion due to increased noise can be detected in the second portion.

[0265]

[0337] As a further example, steps 1707 and / or 1711 may further include making different changes to the sensor sensitivity to reflections associated with the first portion and the second portion such that, after detecting an external light source at a first distance in the second portion, an object at a second distance greater than the first distance can be detected in the first portion. Thus, the sensor sensitivity in the first portion may be increased to compensate for the external light source in the second portion that may cause noise in the first portion.

[0266]

[0338] Alternatively or simultaneously, step 1711 may further include individually modifying sensor sensitivity to reflections associated with the first and second portions such that, for the same amount of light projected onto the first and second portions, the detection distance associated with the second portion is greater than the detection distance associated with the first portion. Thus, the detection distance can be increased by increasing the sensor sensitivity (and / or decreasing the minimum threshold and / or increasing the maximum threshold) for the second portion.

[0267]

[0339] Alternatively or simultaneously, steps 1707 and 1711 may further include individually modifying sensor sensitivity to reflections associated with the first and second portions such that, for the same amount of light projected onto the first and second portions, the resolution associated with the second portion is greater than the resolution associated with the first portion. Thus, increasing the sensor sensitivity of the second portion (and / or decreasing the minimum threshold and / or increasing the maximum threshold) can increase the resolution.

[0268]

[0340] For each portion of the FOV for which processor 118 changes the sensitivity setting (e.g., in steps 1707 and / or 1711), processor 118 can detect objects in that portion of the FOV using the changed sensitivity setting. For each portion of the FOV for which processor 118 changes the sensitivity setting, processor 118 can generate data points in a model of the scene contained in the FOV (e.g., 2D or 3D such as a point cloud model).

[0269]

[0341] Method 1700 may include additional steps. For example, method 1700 may further include modifying sensor sensitivity to reflections associated with a third portion of the field of view that is different from the first and second portions based on the estimate of noise in the first portion. For example, as described above, processor 118 may extrapolate the noise estimated from the first portion to the third portion. Alternatively, method 1700 may further include modifying sensor sensitivity to reflections associated with a third portion of the field of view that is different from the first and second portions based on the estimate of noise in the first and second portions.

[0270]

[0342] In some embodiments, extrapolating may include copying the estimated noise from the first portion and / or the second portion to the third portion. In other embodiments, extrapolating may include applying one or more functions to the estimated noise from the first portion and / or the second portion to generate an output estimated noise for the third portion. For example, the function may be a function of the distance between the first portion and / or the second portion and the third portion, the difference between the actual brightness and / or predicted brightness of the first portion and the third portion, the difference between a previously estimated noise in the third portion and a currently estimated noise in the first portion and / or the second portion, etc. The function may output an estimate of the third portion directly, output an adjustment factor (e.g., for addition, subtraction, multiplication, etc.) to convert the estimated noise in the first portion and / or the second portion to an estimate of the third portion, or perform a convolution or other operation on the estimated noise in the first portion and / or the second portion to generate an estimate or adjustment factor for the third portion.

[0271]

[0343] In addition to modifying the sensor sensitivity, processor 118 may also modify one or more operating characteristics of at least one light source for a portion of the FOV based on the noise estimate for that portion. For example, processor 118 may modify light source parameters (e.g., pulse timing, pulse length, pulse size, pulse amplitude, pulse frequency, etc.) associated with the first portion so that the light flux directed to the first portion is greater than the light flux directed to at least one other portion of the field of view. Alternatively, processor 118 may modify light source parameters associated with the first portion so that the light flux directed to the first portion is less than the light flux directed to at least one other portion of the field of view. Processor 118 may modify the light source parameters based on the noise estimates of steps 1705 and / or 1709. For example, processor 118 may determine to reduce the light flux directed to the first portion because reflections from the first portion contain less noise. As another example, processor 118 may determine to increase the light flux directed to the first portion because reflections from the first portion contain more noise. Thus, separately or in combination with varying the sensor sensitivity, the processor 118 can also account for noise by varying the light flux directed to portions of the field of view.

[0272]

[0344] As another example, processor 118 may increase the amount of light projected onto a first portion relative to the amount of light projected onto a second portion. Processor 118 may do this, for example, if the noise estimate for the first portion is greater than the noise estimate for the second portion. Thus, as described above, processor 118 may address noise by varying the amount of light projected. Alternatively, processor 118 may decrease the amount of light projected onto a first portion relative to the amount of light projected onto a second portion. Processor 118 may do this, for example, if the noise estimate for the first portion is greater than the noise estimate for the second portion. Thus, as described above, processor 118 may address noise by varying the amount of light projected.

[0273]

[0345] Many noise estimation techniques can be used with the method 1700 of Figure 17. Figure 18 shows an example of a received signal along with a function for estimating the expected signal. As shown in Figure 18, the received signal 1801 represents the entire signal for a portion of the field of view, including received noise. The received signal 1801 is a discretized measurement and therefore can be represented as a function with slope discontinuities.

[0274]

[0346] 18, function 1803 may represent an estimate of the expected signal without noise. For example, function 1803 may be created based on past measurements and / or known characteristics being measured. For example, function 1803 may be created by processor 118 based on signals previously received in a portion of the field of view and / or based on characteristics of objects in the portion of the field of view (e.g., known locations of objects, known brightness of objects, etc.). Processor 118 may derive characteristics of objects based on previously received signals.

[0275]

[0347] To adjust the received signal 1801 to address noise, the processor 118 can fit the received signal 1801 to a function 1803. In other embodiments, the function 1803 can represent a function that performs a convolution or other operation on the received signal 1801 to remove noise.

[0276]

[0348] Figure 19 shows an example of a received signal along with a function for estimating the expected signal. As shown in Figure 19, like Figure 18, received signal 1901 represents the entire received signal, including noise. Received signal 1901 is a discretized measurement and therefore can be represented as a function with slope discontinuities.

[0277]

[0349] 19, function 1903 may represent an estimate of the expected noise. For example, function 1903 may be generated based on past measurements and / or known characteristics of at least one sensor. For example, function 1903 may be generated by processor 118 based on signals previously received in a portion of the field of view and / or based on characteristics of at least one sensor (e.g., known background noise, known amplification noise, etc.). Processor 118 may derive the characteristics of the at least one sensor based on manufacturing specifications and / or previous measurements.

[0278]

[0350] To adjust the received signal 1901 to account for noise, the processor 118 may subtract the function 1903 from the received signal 1901. In other embodiments, the function 1903 may represent a function that performs a convolution or other operation on the received signal 1901 to estimate the noise from the received signal 1901.

[0279]

[0351] Systems and methods according to this disclosure may include any suitable noise estimation technique and are not limited to the examples of FIGS.

[0280]

[0352] Variable flux allocation within a lidar FOV to improve detection in a region of interest

[0281]

[0353] By detecting laser beam reflections from real-world surroundings in the environment, the LIDAR system 100 can generate a 3D reconstruction of objects in the environment within the LIDAR system's FOV. Such LIDAR systems may have applications across a wide range of technologies. One such technology, among others, is the field of autonomous or semi-autonomous vehicles. With growing interest in self-driving technology, LIDAR systems are increasingly being viewed as a critical component for the operation of autonomous vehicles. For LIDAR systems to be adopted in the automotive industry, the systems must provide reliable reconstructions of surrounding objects. Therefore, improvements in the operational capabilities of LIDAR systems can make them a significant contributor to the realization of autonomous navigation. Such improvements may include increased scanning resolution, increased detection range, and / or increased receiver sensitivity. Such performance improvements may be achieved by using higher-energy lasers. However, currently, the use of high-energy lasers may be impractical for a variety of reasons, such as cost and the operating temperature of the automotive environment, and the maximum illumination power of LIDAR systems is limited by the need to make the LIDAR system eye-safe (e.g., avoiding potential damage to the retina or other parts of the eye that may occur if the projected optical emissions are absorbed by the eye). Thus, there is a need for LIDAR systems that comply with eye-safety regulations while at the same time providing performance characteristics that enhance the system's usefulness for technology platforms (e.g., autonomous vehicles) in which they are incorporated.

[0282]

[0354] Generally, the disclosed LIDAR systems and methods can improve system performance while complying with eye safety regulations. For example, the disclosed systems can improve the quality of detection and subsequent reconstruction in a region of interest (ROI) by allocating variable optical power in the LIDAR system's field of view. Allocating power to the field of view based on the level of interest in a particular ROI can improve system efficiency while maintaining high quality and useful data from the ROI. Furthermore, separating the FOV into different levels of ROI and allocating power to the field of view based on the level of interest in a particular ROI can provide many advantages. For example, this allows the LIDAR system to more efficiently utilize its optical budget by avoiding the expenditure of light projection and detection resources in areas of low interest. This can also reduce interference with the surrounding environment (e.g., other LIDAR systems or pedestrians on the road). Furthermore, this can simplify the computational complexity and associated costs of preparing and analyzing results. The region of interest can correspond to a region or subregion of the LIDAR FOV. In some cases, the ROI may be determined to include a rectangular region of the LIDAR FOV, or a region of the FOV having any other shape. In some embodiments, the ROI extends in an irregular pattern, which may include multiple discontinuous segments across the LIDAR FOV. Furthermore, the ROI need not be aligned with a particular axis of the FOV, but may be defined freeform relative to the FOV.

[0283]

[0355] 22 may include at least one processor 118, for example, within processing unit 108. The at least one processor 118 may control at least one light source 102 to vary light intensity in scanning a field of view 120 with light from the at least one light source. The at least one processor 118 may also control at least one optical deflector 114 to deflect light from the at least one light source to scan the field of view 120. Furthermore, in some embodiments (e.g., as shown in FIG. 3 ), the at least one optical deflector 114 may include a pivotable MEMS mirror 300. The at least one processor 118 may obtain an identification of at least one distinct region of interest within the field of view 120. The at least one processor 118 can then increase the allocation of light to at least one distinct region of interest relative to other regions, such that after the first scan cycle, the light intensity of at least one subsequent second scan cycle at locations associated with the at least one distinct region of interest is higher than the light intensity of the first scan cycle at locations associated with the at least one distinct region of interest. For example, increasing the light intensity can be performed by increasing the power per solid angle, increasing the irradiance for a portion of the FOV, emitting additional light...

Claims

1. At least one processor, controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; determining, using a first detected reflection associated with scanning a first portion of the field of view, that a first object is present within the first portion at a first distance; determining that an object at the first distance is absent within a second portion of the field of view; after detecting the first reflection and determining that an object is absent within the second portion, modifying light source parameters such that more light is projected toward the second portion of the field of view than is projected toward the first portion of the field of view; using a second detected reflection in the second portion of the field of view to determine that a second object is present at a second distance greater than the first distance; 16. A LIDAR system comprising: at least one processor configured to:

2. 10. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector pivots about two orthogonal axes.

3. 10. The LIDAR system of claim 1, wherein the at least one processor is further configured to control a rotatable motor for steering the at least one optical deflector.

4. 10. The LIDAR system of claim 1 , wherein the at least one optical deflector comprises a pivotable MEMS mirror.

5. 2. The LIDAR system of claim 1, wherein a single scan cycle of the field of view includes moving the at least one optical deflector such that the at least one optical deflector is located at a plurality of different instantaneous positions during the scan cycle, and the at least one processor is configured to control the at least one light source and the at least one optical deflector such that while the at least one optical deflector is located at a particular instantaneous position, a light beam from the at least one light source is deflected by the at least one optical deflector towards an object in the field of view and a reflection from the object is deflected by the at least one optical deflector towards at least one sensor.

6. 6. The LIDAR system of claim 5, wherein the second portion of the field of view corresponds to a single instantaneous position of the at least one optical deflector.

7. 6. The LIDAR system of claim 5, wherein the second portion of the field of view corresponds to a plurality of instantaneous positions of the at least one optical deflector.

8. 6. The LIDAR system of claim 5, wherein the at least one processor is further configured to modify the light source parameters such that a higher irradiance per solid angle is projected toward the second portion of the field of view in the same scan cycle in which it determines that an object at the first distance is absent within the second portion.

9. 10. The LIDAR system of claim 8, wherein the at least one optical deflector includes a pivotable MEMS mirror.

10. 2. The LIDAR system of claim 1 , wherein the at least one processor is further configured to modify the light source parameters such that more light is projected toward the second portion of the field of view in the same scan cycle in which it determines that an object at the first distance is absent within the second portion.

11. 10. The LIDAR system of claim 8, wherein the at least one processor is further configured to determine an absence of an object at the first distance within the second portion using a third detected reflection associated with scanning the second portion, and further configured to determine a presence of the second object at the second distance using the third detected reflection and the second detected reflection.

12. 2. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the at least one light source and the at least one optical deflector such that the second reflection is detected in a subsequent scan cycle following a previous scan cycle in which an object at the first distance was determined to be absent within the second portion.

13. 13. The LIDAR system of claim 12, wherein the at least one processor is further configured to control the at least one light source such that an amount of light projected toward the first portion in the subsequent scan is substantially the same as an amount of light projected toward the first portion in the previous scan.

14. 2. The LIDAR system of claim 1, wherein the at least one processor is further configured to modify the light source parameters such that more light is projected toward the second portion in response to determining that an object at the first distance is absent within the second portion.

15. 2. The LIDAR system of claim 1 , wherein the at least one processor is further configured to control the light source parameters such that a light flux directed to the second portion of the field of view is greater than a light flux directed to the first portion of the field of view.

16. 2. The LIDAR system of claim 1 , wherein the light source parameters include a light pulse power, and the at least one processor is further configured to alter the light source parameters to increase power of light pulses projected toward the second portion of the field of view.

17. 2. The LIDAR system of claim 1, wherein the light source parameters include a light pulse repetition rate per scan, and the at least one processor is further configured to modify the light source parameters to project more light pulses toward the second portion than toward the first portion.

18. 1. A method for detecting an object using a LIDAR system, comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; determining, using a first detected reflection associated with scanning a first portion of the field of view, that a first object is present within the first portion at a first distance; determining that an object at the first distance is absent within a second portion of the field of view; after detecting the first reflection and determining that an object is absent within the second portion, modifying light source parameters such that more light is projected toward the second portion of the field of view than is projected toward the first portion of the field of view; determining that a second object is present at a second distance greater than the first distance using a second detected reflection in the second portion of the field of view; The method includes:

19. 20. The method of claim 18, wherein scanning includes performing a plurality of scan cycles, a single scan cycle including moving the at least one optical deflector to a plurality of instantaneous positions, and while the at least one optical deflector is disposed at a particular instantaneous position, the method includes deflecting a light beam from the at least one light source toward an object within the field of view, and deflecting a reflection received from the object toward at least one sensor.

20. 20. The method of claim 18, wherein the second portion of the field of view corresponds to a single instantaneous position of the at least one optical deflector.

21. 20. The method of claim 18, wherein the second portion of the field of view corresponds to a plurality of instantaneous positions of the at least one optical deflector.

22. 20. The method of claim 18, further comprising detecting the second reflection in the same scan cycle in which an absence of the object at the first distance within the second portion is determined.

23. 20. The method of claim 18, further comprising detecting the second reflection in a subsequent scan cycle following a previous scan cycle in which an object at the first distance was determined to be absent within the second portion.

24. 20. The method of claim 18, further comprising: determining an absence of an object at the first distance within the second portion using a third detected reflection associated with scanning the second portion; and determining a presence of the second object at the second distance using the third detected reflection and the second detected reflection.

25. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; determining, using a first detected reflection associated with scanning a first portion of the field of view, that a first object is present within the first portion at a first distance; determining that an object at the first distance is absent within a second portion of the field of view; after detecting the first reflection and determining that an object is absent within the second portion, modifying light source parameters such that more light is projected toward the second portion of the field of view than is projected toward the first portion of the field of view; determining that a second object is present at a second distance greater than the first distance using a second detected reflection in the second portion of the field of view; A non-transitory computer readable storage medium comprising:

26. At least one processor, controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling a projection of at least a first light emission directed toward a first portion of the field of view to determine an absence of an object at a first distance within the first portion of the field of view; if it is determined based on the at least first light emission that no object is present within the first portion of the field of view, controlling a projection of at least a second light emission directed towards the first portion of the field of view to enable detection of an object at a second distance in the first portion of the field of view that is greater than the first distance; controlling a projection of at least a third light emission directed toward the first portion of the field of view to determine that an object is present in the first portion of the field of view at a third distance greater than the second distance; 16. A LIDAR system comprising: at least one processor configured to:

27. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control the at least one optical deflector to scan the field of view such that the at least one optical deflector is disposed at a plurality of different instantaneous positions during a scan cycle.

28. 28. The LIDAR system of claim 27, wherein the at least one processor is configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a light beam is deflected by the at least one optical deflector from the at least one light source toward the field of view and reflections from objects within the field of view are deflected by the at least one optical deflector toward at least one sensor.

29. 28. The LIDAR system of claim 27, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least first light emission, the at least second light emission, and the at least third light emission are projected toward the first portion of the field of view corresponding to a single instantaneous position of the at least one optical deflector.

30. 30. The LIDAR system of claim 27, wherein the at least one processor is further configured to determine that the object at the third distance is present within the first portion of the field of view using the at least third light emission and at least one of the at least first light emission and the at least second light emission.

31. 28. The LIDAR system of claim 27, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least first light emission, the at least second light emission, and the at least third light emission are projected toward the first portion of the field of view from different instantaneous positions of the at least one optical deflector.

32. 30. The LIDAR system of claim 27, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least first light emission, the at least second light emission, and the at least third light emission are projected toward the first portion of the field of view in a single scan cycle.

33. 30. The LIDAR system of claim 27, wherein the at least one processor is further configured to control the at least one optical deflector such that each of the at least first light emission, the at least second light emission, and the at least third light emission are projected toward the first portion of the field of view in different scan cycles.

34. 34. The LIDAR system of claim 33, wherein the at least one processor is further configured to control the at least one light source such that the at least second light emission has a greater light intensity than a light intensity of the at least first light emission and the at least third light emission has a greater light intensity than a light intensity of the at least second light emission.

35. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control the at least one light source such that the at least first light emission, the at least second light emission, and the at least third light emission are associated with substantially the same light intensity.

36. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control projection of the at least third light emission directed toward the first portion when an absence of an object at the first distance within the first portion is determined based on detection of at least one of the at least first light emission and the at least second light emission.

37. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control projection of the at least third light emission directed toward the first portion when an absence of an object at the second distance within the first portion is determined based on detection of the at least second light emission.

38. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to modify a source parameter associated with the first portion such that a flux of light directed to the first portion is greater than a flux of light directed to at least one other portion of the field of view during a same scan cycle.

39. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control the at least one light source such that each of the at least first light emission and the at least third light emission are associated with a different wavelength.

40. 27. The LIDAR system of claim 26, wherein the at least one processor is further configured to control the at least one light source such that a accumulated energy density of the light in the first portion of the field of view does not exceed a maximum allowable exposure.

41. 1. A method for detecting an object using a LIDAR system, comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; determining an absence of an object at a first distance within the first portion of the field of view by controlling a projection of at least a first light emission directed toward the first portion of the field of view; if an object is determined to be absent within the first portion of the field of view based on the at least first light emission, controlling a projection of at least a second light emission directed toward the first portion of the field of view to enable detection of an object at a second distance in the first portion of the field of view that is greater than the first distance; controlling a projection of at least a third light emission directed toward the first portion of the field of view to determine that an object is present in the first portion of the field of view at a third distance greater than the second distance; The method includes:

42. 42. The method of claim 41, further comprising controlling projection of the at least a third light emission directed toward the first portion when it is determined that an object at the first distance is absent within the first portion based on detection of at least one of the at least a first light emission and the at least a second light emission.

43. 42. The method of claim 41, further comprising controlling projection of the at least a third light emission directed toward the first portion when it is determined based on detection of the at least a second light emission that an object at the second distance is absent within the first portion.

44. 42. The method of claim 41, further comprising modifying a light source parameter associated with the first portion such that a luminous flux of light directed to the first portion is greater than a luminous flux of light directed to at least one other portion of the field of view.

45. 42. The method of claim 41, further comprising controlling the at least one light source such that the at least first light emission, the at least second light emission, and the at least third light emission are associated with substantially the same light intensity.

46. 42. The method of claim 41, further comprising determining that the object at the third distance is present within the first portion of the field of view using the at least third light emission and at least one of the at least first light emission and the at least second light emission.

47. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; determining an absence of an object at a first distance within the first portion of the field of view by controlling a projection of at least a first light emission directed toward the first portion of the field of view; if an object is determined to be absent within the first portion of the field of view based on the at least first light emission, controlling a projection of at least a second light emission directed toward the first portion of the field of view to enable detection of an object at a second distance in the first portion of the field of view that is greater than the first distance; controlling a projection of at least a third light emission directed toward the first portion of the field of view to determine that an object is present in the first portion of the field of view at a third distance greater than the second distance; A non-transitory computer readable storage medium comprising:

48. At least one processor, controlling at least one light source to vary a light flux in scanning a field of view including the first portion and the second portion; receiving a signal from at least one sensor for each pixel, the signal indicative of at least one of ambient light and a combination of light from the at least one light source reflected by objects within the field of view and noise associated with the at least one sensor; estimating noise in at least a portion of the signal associated with the first portion of the field of view; modifying a sensor sensitivity to reflections associated with the first portion of the field of view based on the estimate of noise in the first portion of the field of view; estimating noise in at least a portion of the signal associated with the second portion of the field of view; modifying a sensor sensitivity to a reflection associated with the second portion of the field of view based on the estimate of noise in the second portion of the field of view, the modified sensor sensitivity to the reflection associated with the second portion being different from the modified sensor sensitivity to the reflection associated with the first portion.

16. A LIDAR system comprising: at least one processor configured to:

49. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to control at least one optical deflector to scan the field of view, a single scan cycle including moving the at least one optical deflector such that the at least one optical deflector is located at a plurality of different instantaneous positions during the scan cycle.

50. 50. The LIDAR system of claim 49, wherein at least one processor is configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is located at a particular instantaneous position, a light beam is deflected by the at least one optical deflector from the at least one light source toward the field of view and reflections from objects within the field of view are deflected by the at least one optical deflector toward the at least one sensor.

51. 51. The LIDAR system of claim 50, wherein the at least one processor is further configured to modify sensor sensitivity to reflections associated with a portion of the field of view corresponding to a single instantaneous position of the at least one optical deflector.

52. 51. The LIDAR system of claim 50, wherein the at least one processor is further configured to vary sensor sensitivity to reflections associated with portions of the field of view corresponding to multiple instantaneous positions of the at least one optical deflector.

53. 51. The LIDAR system of claim 50, wherein the at least one processor is further configured to alter a sensor sensitivity to a first reflection associated with the first portion received in a first scan cycle and to alter a sensor sensitivity to a second reflection associated with the second portion received in a second scan cycle.

54. 51. The LIDAR system of claim 50, wherein the at least one processor is further configured to vary a sensor sensitivity to a first reflection associated with the first portion and a second reflection associated with the second portion, the first and second reflections being received in a single scan cycle.

55. 51. The LIDAR system of claim 50, wherein the at least one processor is further configured to estimate noise at each portion based on reflections associated with a single portion of the at least one optical deflector.

56. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to estimate noise in a signal associated with the particular portion of the field of view based on a comparison of the signal associated with the particular portion of the field of view received in at least one previous scan cycle.

57. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to alter a sensor sensitivity to reflections associated with a third portion of the field of view distinct from the first portion and the second portion based on the estimate of noise in the first portion.

58. 58. The LIDAR system of claim 57, wherein the at least one processor is further configured to modify a sensor sensitivity to reflections associated with the third portion based on the estimate of noise in both the first portion and the second portion.

59. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to increase an amount of light projected toward the first portion relative to an amount of light projected toward the second portion if an estimate of the noise in the first portion is greater than an estimate of the noise in the second portion.

60. 49. The LIDAR system of claim 48, wherein the sensor sensitivity is a signal threshold, the at least one processor further configured to increase the signal threshold for the first portion relative to the signal threshold for the second portion if the noise estimate in the first portion is greater than the noise estimate in the second portion.

61. 61. The LIDAR system of claim 60, wherein the at least one processor is further configured to detect an external light source at a first distance in the first portion and to differentially modify sensor sensitivities to reflections associated with the first portion and the second portion to enable detection of objects at a second distance in the second portion that is greater than the first distance.

62. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to individually modify sensor sensitivities to reflections associated with the first portion and the second portion such that for an identical amount of light projected towards the first portion and the second portion, a detection distance associated with the first portion is greater than a detection distance associated with the second portion.

63. 49. The LIDAR system of claim 48, wherein the at least one processor is further configured to individually modify sensor sensitivities to reflections associated with the first portion and the second portion such that for the same amount of light projected towards the first portion and the second portion, a resolution associated with the first portion is greater than a resolution associated with the second portion.

64. 49. The LIDAR system of claim 48, wherein the signal from the at least one sensor further includes noise resulting from the amplification electronics.

65. 1. A method for modifying sensor sensitivity in a LIDAR system, comprising: controlling at least one light source to vary a light flux in scanning a field of view including the first portion and the second portion; receiving a signal from at least one sensor for each pixel, the signal indicative of at least one of ambient light and light from the at least one light source reflected by objects within the field of view; estimating noise in at least a portion of the signal associated with a first portion of the field of view; modifying a sensor sensitivity to reflections associated with the first portion of the field of view based on the estimate of noise in the first portion of the field of view; estimating noise in at least a portion of the signal associated with a second portion of the field of view; modifying a sensor sensitivity to a reflection associated with the second portion of the field of view based on the estimate of noise in the second portion of the field of view, wherein the modified sensor sensitivity to the reflection associated with the second portion differs from the modified sensor sensitivity to the reflection associated with the first portion; The method includes:

66. 66. The method of claim 65, further comprising estimating noise in a signal associated with the particular portion of the field of view based on a comparison of the signal associated with the particular portion of the field of view received in at least one previous scan cycle.

67. 66. The method of claim 65, further comprising modifying a sensor sensitivity to reflections associated with a third portion of the field of view based on the estimate of noise in at least one of the first portion and the second portion.

68. 66. The method of claim 65, further comprising modifying a light source parameter associated with the first portion such that a luminous flux directed to the first portion is greater than a luminous flux directed to at least one other portion of the field of view.

69. 66. The method of claim 65, further comprising increasing an amount of light projected toward the first portion relative to an amount of light projected toward the second portion when the noise estimate in the first portion is greater than the noise estimate in the second portion.

70. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for modifying sensor sensitivity in a LIDAR system, the method comprising: controlling at least one light source to vary a light flux in scanning a field of view including the first portion and the second portion; receiving a signal from at least one sensor for each pixel, the signal indicative of at least one of ambient light and light from the at least one light source reflected by objects within the field of view; estimating noise in at least a portion of the signal associated with a first portion of the field of view; modifying a sensor sensitivity to reflections associated with the first portion of the field of view based on the estimate of noise in the first portion of the field of view; estimating noise in at least a portion of the signal associated with a second portion of the field of view; modifying a sensor sensitivity to a reflection associated with the second portion of the field of view based on the estimate of noise in the second portion of the field of view, wherein the modified sensor sensitivity to the reflection associated with the second portion differs from the modified sensor sensitivity to the reflection associated with the first portion; A non-transitory computer readable storage medium comprising:

71. At least one processor, controlling at least one light source to vary light intensity in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining an identification of at least one distinct region of interest within the field of view; increasing the light allocation to the at least one distinct region of interest relative to other regions such that after a first scan cycle, a light intensity of at least one subsequent second scan cycle at a location associated with the at least one distinct region of interest is higher than a light intensity of the first scan cycle at the location associated with the at least one distinct region of interest; 16. A LIDAR system comprising: at least one processor configured to:

72. 72. The LIDAR system of claim 71, wherein the processor is configured to modify an illumination resolution of the at least one distinct region of interest relative to other regions such that a spatial resolution of a 3D representation of the at least one distinct region of interest in the at least one subsequent second scan cycle is higher than a spatial resolution of the 3D representation of the at least one distinct region of interest in the first scan cycle.

73. 72. The LIDAR system of claim 71, wherein the processor is configured to modify an illumination resolution of the at least one distinct region of interest or the at least one region of non-interest relative to other regions such that a spatial resolution of a 3D representation of the at least one distinct region of interest in the at least one subsequent second scan cycle is lower than a spatial resolution of the 3D representation of the at least one distinct region of interest in the first scan cycle.

74. 72. The LIDAR system of claim 71, wherein the processor is configured to vary illumination timing of the at least one distinct region of interest relative to other regions such that a temporal resolution of the 3D representation of the at least one distinct region of interest in the at least one subsequent second scan cycle is greater than a temporal resolution of the 3D representation of the at least one distinct region of interest in the first scan cycle.

75. 72. The LIDAR system of claim 71, wherein the processor is configured to vary illumination timing of the at least one distinct region of interest or the at least one non-interest region relative to other regions such that a temporal resolution of the 3D representation of the at least one distinct region of interest or the at least one non-interest region in the at least one subsequent second scan cycle is lower than a temporal resolution of the 3D representation of the at least one distinct region of interest or the at least one non-interest region in the first scan cycle.

76. 72. The LIDAR system of claim 71, wherein the at least one processor is further configured to control the at least one optical deflector to scan the field of view, wherein a single scan cycle of the field of view includes moving the at least one optical deflector such that the at least one optical deflector is momentarily located at a plurality of positions during the scan cycle.

77. 77. The LIDAR system of claim 76, wherein at least one processor is configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is disposed at a particular instantaneous position, a light beam is deflected by the at least one optical deflector from the at least one light source toward the field of view and reflections from objects within the field of view are deflected by the at least one optical deflector toward the at least one sensor.

78. 77. The LIDAR system of claim 76, wherein the obtained identification of the at least one distinct region of interest includes an indication of a particular optical deflector position associated with the at least one distinct region of interest.

79. 72. The LIDAR system of claim 71, wherein the obtained identification of the at least one distinct region of interest is based on a current driving mode of a vehicle in which the LIDAR system is deployed.

80. 72. The LIDAR system of claim 71 , wherein the obtained identification of the at least one distinct region of interest is based on objects detected in the at least one distinct region of interest.

81. 72. The LIDAR system of claim 71 , wherein the at least one processor is further configured to determine the identification of the at least one distinct region of interest based on information received from at least one sensor configured to detect light reflections associated with the first scan cycle.

82. 72. The LIDAR system of claim 71 , wherein the at least one processor is further configured to obtain the identification of the at least one distinct region of interest from at least one of a GPS, a vehicle navigation system, a radar, a LIDAR, and a camera.

83. 72. The LIDAR system of claim 71 , wherein the at least one processor is further configured to adjust light allocation such that more light is projected toward the at least one distinct region of interest in a single scan cycle than other regions of the field of view.

84. 72. The LIDAR system of claim 71, wherein the at least one processor is further configured to allocate less light to the plurality of regions identified as regions of non-interest in the at least one subsequent second scan cycle than the amount of light projected toward the plurality of regions in the first scan cycle.

85. 72. The LIDAR system of claim 71 , wherein the at least one subsequent second scan cycle comprises a plurality of subsequent second scan cycles, and a total light intensity in the at least one distinct area of ​​interest over the plurality of second scan cycles is greater than a total light intensity in other areas of non-interest over the plurality of second scan cycles.

86. 72. The LIDAR system of claim 71 , wherein the at least one processor is further configured to set an upper limit on accumulated light in the at least one distinct region of interest within an eye safety threshold.

87. 72. The LIDAR system of claim 71 , wherein the at least one distinct region of interest includes a plurality of regions of interest, and the at least one processor is further configured to rank the plurality of regions of interest and allocate light based on the ranking.

88. 88. The LIDAR system of claim 87, wherein the at least one processor is further configured to allocate the most light to a highest ranked region of interest and allocate less light to a lower ranked region of interest.

89. 72. The LIDAR system of claim 71 , wherein the at least one optical deflector includes a pivotable MEMS mirror.

90. 72. The LIDAR system of claim 71, wherein the at least one processor is further configured to determine, using reflectances associated with scanning the at least one distinct region of interest, that a first object is present within the at least one distinct region of interest at a first distance greater than a second distance at which a second object was not detected within a region of non-interest.

91. 1. A method for detecting objects in a region of interest using a LIDAR system, comprising: controlling at least one light source to vary a light intensity in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect the light from the at least one light source to scan the field of view; receiving an identification of at least one distinct region of interest within the field of view; increasing the light allocation to the at least one distinct region of interest relative to other regions such that after a first scan cycle, a light intensity of at least one subsequent second scan cycle at a location associated with the at least one distinct region of interest is higher than a light intensity of the first scan cycle at the location associated with the at least one distinct region of interest; The method includes:

92. 92. The method of claim 91, further comprising receiving the identification of the at least one distinct region of interest from at least one sensor configured to detect light reflections associated with the first scan cycle.

93. 92. The method of claim 91 , wherein the at least one subsequent second scan cycle comprises a plurality of subsequent second scan cycles, and a total light intensity in the at least one distinct area of ​​interest over the plurality of second scan cycles is greater than a total light intensity in other areas of non-interest over the plurality of second scan cycles.

94. 92. The method of claim 91, further comprising adjusting light allocation such that more light is projected toward the at least one distinct region of interest than other regions in a single scan cycle.

95. The at least one distinct region of interest includes a plurality of regions of interest, and the method further comprises: ranking the plurality of regions of interest; allocating light based on the ranking, the amount of light allocated to the highest ranked region of interest being greater than the amount of light allocated to lower ranked regions of interest; 92. The method of claim 91, further comprising:

96. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects within a region of interest using a LIDAR system, the method comprising: controlling at least one light source to vary light intensity in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving an identification of at least one distinct region of interest within the field of view; increasing the light allocation to the at least one distinct region of interest relative to other regions such that after a first scan cycle, a light intensity of at least one subsequent second scan cycle at a location associated with the at least one distinct region of interest is higher than a light intensity of the first scan cycle at the location associated with the at least one distinct region of interest; A non-transitory computer readable storage medium comprising:

97. At least one processor, controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; determining whether an object is located within a threshold distance from the at least one optical deflector in an intermediate area of ​​the LIDAR system based on the reflected signal of the initial optical emission, the threshold distance being related to a safety distance; controlling said at least one light source to project an additional light emission towards said intermediate area if no object is detected in said intermediate area, thereby enabling detection of objects further away than said intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the intermediate area does not exceed a maximum allowable exposure when an object is detected in the intermediate area.

16. A LIDAR system comprising: at least one processor configured to:

98. 98. The LIDAR system of claim 97, wherein the at least one processor is further configured to control the at least one optical deflector to scan the field of view, wherein a single scan cycle of the field of view includes moving the at least one optical deflector such that the at least one optical deflector is located at a plurality of different instantaneous positions during the scan cycle.

99. 100. The LIDAR system of claim 98, wherein the at least one processor is further configured to control the at least one optical deflector and the at least one light source such that a light beam is deflected from the at least one light source toward the field of view and reflections from objects within the field of view are deflected toward at least one sensor while the at least one optical deflector remains in a particular instantaneous position.

100. 100. The LIDAR system of claim 98, wherein the at least one processor is further configured to control the at least one optical deflector such that the initial light emission and the additional light emission are projected toward the intermediate area in a single scan cycle.

101. 98. The LIDAR system of claim 97, wherein the at least one processor is further configured to control the at least one optical deflector such that the initial light emission is projected toward the intermediate area in a first scan cycle and the intermediate light emission is projected toward the intermediate area in a second scan cycle.

102. 98. The LIDAR system of claim 97, wherein regulating includes determining a distance to the object, calculating an intensity of the light at the object, and determining an eye-safe exposure time at the distance to the object.

103. 103. The LIDAR system of claim 102, wherein the at least one processor is further configured to determine a value associated with the maximum allowable exposure based on a determined distance between the at least one optical deflector and the object detected in the intermediate area.

104. 98. The LIDAR system of claim 97, wherein regulating includes determining a distance to the object, calculating an intensity of the light at the object, and determining an eye-safe acceptable light energy at the distance to the object.

105. 105. The LIDAR system of claim 104, wherein the at least one processor is further configured to determine a value associated with the maximum allowable optical energy based on a determined distance between the at least one optical deflector and the object detected in the intermediate area.

106. The at least one processor further comprises: controlling the at least one optical deflector such that the field of view can be divided into a plurality of sectors, each sector being associated with a distinct intermediate area; determining whether an object is located in each of the intermediate areas associated with the plurality of sectors based on the reflected signals of the initial light emissions from each sector; 98. The LIDAR system of claim 97, configured as follows:

107. Upon detecting an object in a first intermediate area associated with a first sector and determining that an object is absent in a second intermediate area associated with a second sector, the at least one processor further comprises: controlling the at least one light source to project an additional light emission toward the second intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that the accumulated energy density of the light in the first intermediate area does not exceed the maximum allowable exposure.

107. The LIDAR system of claim 106, configured as follows:

108. 98. The LIDAR system of claim 97, wherein the at least one processor is further configured to adjust the threshold associated with the safe distance based on a reflected signal associated with the additional light emission.

109. 98. The LIDAR system of claim 97, wherein the at least one optical deflector includes a plurality of optical deflectors, and the at least one processor is configured to cause the plurality of optical deflectors to cooperate to scan the field of view.

110. 98. The LIDAR system of claim 97, wherein the at least one optical deflector comprises a single optical deflector and the at least one light source comprises a plurality of light sources aimed at the single optical deflector.

111. 111. The LIDAR system of claim 110, wherein each light source is generally associated with a different area of ​​the field of view, and wherein the at least one processor is further configured to coordinate the at least one optical deflector and the plurality of light sources such that, if an object is detected in a first area of ​​the field of view at a distance greater than the safe distance, an energy density of light projected by a different light source into a second area of ​​the field of view does not exceed a maximum allowable exposure associated with the second area of ​​the field of view.

112. 98. The LIDAR system of claim 97, wherein the at least one processor is further configured to cooperate with the at least one optical deflector and the at least one light source such that if another object is detected in another area at a distance greater than the safe distance, an energy density of light projected by the at least one light source onto the another portion of the field of view does not exceed a maximum allowable exposure associated with the another portion of the field of view.

113. 98. The LIDAR system of claim 97, wherein the safety distance is a nominal eye hazard distance (NOHD).

114. 98. The LIDAR system of claim 97, wherein the at least one light source is configured to project light at a wavelength less than 1000 nm.

115. 98. The LIDAR system of claim 97, wherein the at least one light source is configured to project light at a wavelength greater than 800 nm.

116. 98. The LIDAR system of claim 97, wherein if an object is detected in the intermediate area, the at least one processor is further configured to: not emit further light toward a portion of the intermediate area associated with the detected object.

117. 98. The LIDAR system of claim 97, wherein if an object is detected in the intermediate area, the at least one processor is further configured to regulate at least one of the at least one light source and the at least one optical deflector to emit visible light toward the intermediate area.

118. 100. The LIDAR system of claim 97, wherein the at least one processor is further configured to determine a distance of an object located farther than the intermediate area using the initial light emission and the additional light emission.

119. The at least one processor further comprises: controlling the at least one optical deflector such that the field of view can be divided into a plurality of sectors, each sector being associated with a distinct intermediate area; determining whether an object is located in each of the intermediate areas associated with the plurality of sectors based on the reflected signals of the initial light emissions from each sector; upon detecting an object in a first intermediate area associated with a first sector and determining that an object is absent in a second intermediate area associated with a second sector, controlling the at least one light source to project additional light emissions toward the second intermediate area in a single scan cycle, and regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the first intermediate area does not exceed the maximum allowable exposure.

101. The LIDAR system of claim 100, configured as follows:

120. 1. A method for detecting an object using a LIDAR system, comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; determining whether an object is located within a threshold distance from the at least one optical deflector in the intermediate area of ​​the field of view based on the reflected signal of the initial light emission, the threshold distance being associated with an eye hazard distance; controlling said at least one light source to project an additional light emission towards said intermediate area if no object is detected in said intermediate area, thereby enabling detection of objects further away than said intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the intermediate area does not exceed a maximum allowable exposure when an object is detected in the intermediate area; The method includes:

121. 121. The method of claim 120, further comprising controlling the at least one optical deflector such that the initial light emission and the additional light emission are projected toward the intermediate area in a single scan cycle.

122. 121. The method of claim 120, further comprising determining the maximum allowable exposure based on a distance to the object detected in the intermediate area.

123. 121. The method of claim 120, wherein regulating includes determining a distance to the object, calculating the intensity of the light at the object, and determining an eye-safe exposure time at the distance to the object.

124. 121. The method of claim 120, further comprising adjusting the threshold associated with an eye disorder distance based on a reflected signal associated with the additional light emission.

125. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; determining whether an object is located within a threshold distance from the at least one optical deflector in the intermediate area of ​​the field of view based on the reflected signal of the initial light emission, the threshold distance being associated with an eye hazard distance; controlling said at least one light source to project an additional light emission towards said intermediate area if no object is detected in said intermediate area, thereby enabling detection of objects further away than said intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the intermediate area does not exceed a maximum allowable exposure when an object is detected in the intermediate area; A non-transitory computer readable storage medium comprising:

126. At least one processor, Controlling the light emission of the light source; scanning a field of view by repeatedly moving at least one optical deflector disposed in an outbound path of the light source, the at least one optical deflector being momentarily positioned in a plurality of positions during a single scan cycle of the field of view; receiving a reflection of the single light beam spot along a return path to a sensor through the at least one deflector while the at least one deflector is in a particular instantaneous position; receiving from the sensor a signal associated with an image of each light beam spot for each beam spot, the sensor including a plurality of detectors, each detector having a size smaller than the image of each light beam spot such that the image of each light beam spot is incident on a plurality of detectors for each beam spot; determining at least two different range measurements associated with the image of the single light beam spot from signals resulting from the incidence on the plurality of detectors; 16. A LIDAR system comprising: at least one processor configured to:

127. 127. The LIDAR system of claim 126, wherein the at least one optical deflector includes a pivotable MEMS mirror.

128. 128. The LIDAR system of claim 127, wherein the at least one processor is configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is disposed at a particular instantaneous position, the outbound path of the light source at least partially coincides with the return path.

129. 127. The LIDAR system of claim 126, wherein an overlapping portion of the outbound path and the return path includes a common optical deflection element.

130. 127. The LIDAR system of claim 126, wherein the at least one optical deflector includes at least one outbound deflector and at least one return deflector, and the at least one processor is further configured to receive a reflection of the single optical beam spot via the at least one return deflector along a return path to the sensor that does not coincide with the outbound path.

131. 127. The LIDAR system of claim 126, wherein a number of distinct range measurements determined in said scan cycle is greater than said plurality of instantaneous positions.

132. 127. The LIDAR system of claim 126, wherein the at least two different range measurements correspond to at least two different distances.

133. 132. The LIDAR system of claim 131 , wherein the at least two different range measurements include a first distance measurement to a portion of an object and a second distance measurement to an element within an environment of the object.

134. 132. The LIDAR system of claim 131 , wherein the at least two different range measurements include a first distance measurement to a first portion of an object and a second distance measurement to a second portion of the object.

135. 127. The LIDAR system of claim 126, wherein the at least two different range measurements correspond to at least two different intensities.

136. 136. The LIDAR system of claim 135, wherein the at least two different range measurements include a first intensity measurement associated with a first portion of an object and a second intensity measurement associated with a second portion of the object.

137. 127. The LIDAR system of claim 126, wherein the at least one processor is further configured to generate a plurality of point cloud data entries from reflections of the single light beam spot.

138. 138. The LIDAR system of claim 137, wherein the plurality of point cloud data entries define a two-dimensional surface.

139. 127. The LIDAR system of claim 126, wherein the at least one processor is further configured to simultaneously determine a first plurality of range measurements associated with an image of a first light beam spot and a second plurality of range measurements associated with an image of a second light beam spot, the first plurality of range measurements being greater than the second plurality of range measurements.

140. 127. The LIDAR system of claim 126, wherein the at least one processor is further configured to simultaneously control light emissions of multiple light sources aimed at a common optical deflector and to receive signals associated with images of different light beam spots from multiple sensors, each positioned along a different return path.

141. 127. The LIDAR system of claim 126, wherein the sensor is configured to detect reflections associated with at least two different times of flight for the single light beam spot.

142. 127. The LIDAR system of claim 126, wherein the sensor includes a one dimensional array of detectors comprising at least four individual detectors.

143. 127. The LIDAR system of claim 126, wherein the sensor includes a two-dimensional array of detectors having at least eight individual detectors.

144. 127. The LIDAR system of claim 126, wherein the sensor includes a plurality of detectors, and at least one detector includes a single-photon sensitive detector.

145. 1. A method for detecting an object using a LIDAR system, comprising: controlling the light emission of the light source; scanning a field of view by repeatedly moving at least one optical deflector disposed in an outbound path of the light source, the at least one optical deflector being momentarily positioned in a plurality of positions during a single scan cycle of the field of view; receiving a reflection of a single light beam spot along a return path to a sensor through the at least one deflector while the at least one deflector is in a particular instantaneous position; receiving an image of each light beam spot from the sensor for each beam spot, the sensor including a plurality of detectors, each detector having a size smaller than the image of each light beam spot such that the image of each light beam spot is incident on a plurality of detectors for each beam spot; and determining at least two different range measurements associated with the image of the single light beam spot from signals resulting from the incidence on the multiple detectors.

146. 146. The method of claim 145, wherein the at least two different range measurements determined in the scan cycle are greater than the plurality of instantaneous positions.

147. 146. The method of claim 145, wherein the at least two different range measurements correspond to at least one of different strengths and distances.

148. 146. The method of claim 145, further comprising generating a plurality of point cloud data entries from reflections of the single light beam spot.

149. 146. The method of claim 145, further comprising simultaneously determining a first plurality of range measurements associated with an image of a first light beam spot and a second plurality of range measurements associated with an image of a second light beam spot, the first plurality of range measurements being greater than the second plurality of range measurements.

150. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: controlling the light emission of the light source; scanning a field of view by repeatedly moving at least one optical deflector disposed in an outbound path of the light source, the at least one optical deflector being momentarily positioned in a plurality of positions during a single scan cycle of the field of view; receiving a reflection of a single light beam spot along a return path to a sensor through the at least one deflector while the at least one deflector is in a particular instantaneous position; receiving an image of each light beam spot from the sensor for each beam spot, the sensor including a plurality of detectors, each detector having a size smaller than the image of each light beam spot such that the image of each light beam spot is incident on a plurality of detectors for each beam spot; and determining at least two different range measurements associated with the image of the single light beam spot from signals resulting from the incidence on the multiple detectors.

151. At least one processor, controlling the at least one deflector while the at least one deflector is in a particular instantaneous position to deflect light from a plurality of light sources along a plurality of outbound paths toward a plurality of regions forming a field of view; controlling the at least one deflector such that while the at least one deflector is in the particular instantaneous position, light reflections from the field of view are received at at least one common area of ​​the at least one deflector, at least a portion of the light reflections of at least some of the plurality of light sources being incident on and overlapping with one another at the at least one common area; receiving at least one signal from each of a plurality of detectors indicative of light reflection from the at least one common area while the at least one deflector is in the particular instantaneous position; 16. A LIDAR system comprising: at least one processor configured to:

152. 152. The LIDAR system of claim 151, wherein the plurality of light sources includes at least three separate light sources, each light source generally associated with a different region of the field of view.

153. 153. The LIDAR system of claim 152, wherein at least a first region of the field of view is adjacent to at least a second region and spaced apart from at least a third region.

154. 154. The LIDAR system of claim 153, wherein the plurality of detectors is associated with at least three separate sensors, each of the at least three separate sensors associated with a different light source, and the plurality of detectors is configured to simultaneously detect a first object located in the first region of the field of view and a second object located in the third region of the field of view.

155. 153. The LIDAR system of claim 152, wherein at least each region of the field of view is associated with a different angular portion of the field of view.

156. 152. The LIDAR system of claim 151, wherein the plurality of light sources includes at least two separate light sources, the at least two separate light sources configured to project light into substantially overlapping regions of the field of view.

157. 152. The LIDAR system of claim 151, wherein each light source is configured to project a different wavelength of light.

158. 158. The LIDAR system of claim 157, wherein at least a first light source is configured to project light having a wavelength between 400 nm and 800 nm, and at least a second light source is configured to emit light having a wavelength greater than 800 nm.

159. 158. The LIDAR system of claim 157, wherein at least a first light source is configured to project light having a wavelength between 800 nm and 1000 nm and at least a second light source is configured to emit light having a wavelength greater than 1500 nm.

160. 152. The LIDAR system of claim 151, wherein the multiple detectors are part of a single sensor configured to measure at least two different distances associated with a particular position of the at least one optical deflector.

161. 152. The LIDAR system of claim 151, wherein the at least one optical deflector is housed in a housing separate from the plurality of light sources.

162. 152. The LIDAR system of claim 151, wherein the at least one processor is further configured to scan the field of view by repeatedly moving the at least one deflector, wherein during a single scan cycle of the field of view, the at least one deflector is disposed at a plurality of different instantaneous positions.

163. 152. The LIDAR system of claim 151, wherein the at least one processor is further configured to determine a plurality of distance measurements associated with different regions of the field of view based on the light reflections from the at least one common area.

164. 152. The LIDAR system of claim 151, wherein the at least one deflector includes a single deflector configured to pivot along two separate axes.

165. 152. The LIDAR system of claim 151, wherein the at least one deflector includes a deflector array comprising a plurality of deflectors configured to pivot individually.

166. 166. The LIDAR system of claim 165, wherein the multiple deflectors included in the deflector array are synchronized.

167. 152. The LIDAR system of claim 151 , wherein the at least one processor is further configured to control the plurality of light sources such that at a first instantaneous position of the at least one deflector, a first light source emits more light flux toward the at least one deflector than a second light source, and such that at a second instantaneous position of the at least one deflector, the second light source emits more light flux toward the at least one deflector than the first light source.

168. 1. A method for detecting an object using a LIDAR system, comprising: moving the at least one deflector while the at least one deflector is in a particular instantaneous position to deflect light from a plurality of light sources along a plurality of outbound paths toward a plurality of regions forming a field of view; receiving, while the at least one deflector is in the particular instantaneous position, light reflections of the plurality of light sources from objects within the field of view on at least one common area of ​​the at least one deflector, where at least some of the light reflections are incident on and overlap one another at the at least one common area; receiving, at each of a plurality of detectors, a light reflection from the at least one common area when the at least one optical deflector is in the instantaneous position; The method includes:

169. 169. The method of claim 168, wherein the plurality of light sources includes at least three separate light sources, each light source generally associated with a different region of the field of view.

170. 169. The method of claim 168, wherein the plurality of light sources includes at least two separate light sources, each light source configured to project a different wavelength of light.

171. 169. The method of claim 168, further comprising determining a plurality of distance measurements associated with different regions of the field of view based on the light reflections from the at least one common area.

172. 169. The method of claim 168, further comprising scanning the field of view by repeatedly moving the at least one deflector, wherein during a single scan cycle of the field of view, the at least one deflector is positioned at a plurality of different instantaneous positions.

173. The main body, At least one processor, controlling a plurality of light sources aimed at at least one deflector; receiving data from a plurality of detectors configured to detect reflections from the plurality of light sources; moving the at least one deflector while the at least one deflector is in a particular instantaneous position to deflect light from the plurality of light sources along a plurality of outbound paths toward a plurality of regions forming a field of view; controlling the at least one deflector such that while the at least one deflector is in the particular instantaneous position, light reflections from the field of view are received at at least one common area of ​​the at least one deflector, at least a portion of the light reflections of at least some of the plurality of light sources being incident on and overlapping with one another at the at least one common area; receiving at least one signal from each of a plurality of detectors indicative of light reflection from the at least one common area while the at least one deflector is in the particular instantaneous position; At least one processor configured to A vehicle equipped with.

174. 1. A LIDAR system comprising: At least one processor, accessing an optical budget stored in a memory, the optical budget being associated with at least one light source and defining an amount of light that can be emitted by the at least one light source within a predetermined period of time; receiving information indicative of a platform condition of the LIDAR system; dynamically allocating the optical budget to a field of view of the LIDAR system based on at least two of a scan rate, a scan pattern, a scan angle, a spatial light distribution, and a temporal light distribution based on the received information; outputting a signal to control the at least one light source to vary a light flux in scanning the field of view according to the dynamically allocated optical budget.

16. A LIDAR system comprising: at least one processor configured to:

175. 175. The LIDAR system of claim 174, wherein the at least one processor is further configured to control at least one optical deflector to scan the field of view, and wherein during a single scan cycle, the at least one optical deflector is positioned at a plurality of different instantaneous positions.

176. 176. The LIDAR system of claim 175, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor.

177. 176. The LIDAR system of claim 175, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor being further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

178. 176. The LIDAR system of claim 175, wherein the at least one processor is further configured to coordinate the at least one light source and the at least one optical deflector according to the dynamically allocated optical budget.

179. 175. The LIDAR system of claim 174, wherein the average optical budget per single light source is between 10 milliwatts and 1,000 milliwatts.

180. 175. The LIDAR system of claim 174, wherein the optical budget defines an amount of light that can be emitted in a single scan cycle.

181. 175. The LIDAR system of claim 174, wherein the optical budget defines an amount of light that can be emitted in a standard unit of time.

182. 175. The LIDAR system of claim 174, wherein the platform condition of the LIDAR system includes information indicative of a temperature of at least one component of the LIDAR system.

183. 175. The LIDAR system of claim 174, wherein the at least one processor is further configured to determine the spatial light distribution based on the received information such that more light is projected toward a first portion of the field of view than a second portion of the field of view during a single scan cycle.

184. 184. The LIDAR system of claim 183, wherein the at least one processor is further configured to obtain an identification of the first region as a region of interest and an identification of the second region as a region of non-interest.

185. 185. The LIDAR system of claim 184, wherein the obtained identification of the first region as a region of interest is based on a current operating mode of a vehicle in which the LIDAR system is deployed.

186. 184. The LIDAR system of claim 183, wherein the at least one processor is further configured to determine a presence of an object in the second portion and prevent a cumulative energy density of light projected onto the second portion from exceeding a maximum allowable exposure.

187. 175. The LIDAR system of claim 174, wherein the at least one processor is further configured to determine a temporal light distribution and control the light flux such that an overall amount of light projected in a first scan cycle is greater than an overall amount of light projected in a second subsequent scan cycle.

188. 175. The LIDAR system of claim 174, wherein as at least a portion of the dynamic allocation of the optical budget, the at least one processor is configured to determine a scan rate for at least one of a near field portion of the field of view, a far field portion of the field of view, a narrow sector of the field of view, and a wide sector of the field of view.

189. 175. The LIDAR system of claim 174, wherein the at least one processor is further configured to determine a scan pattern for at least one scan cycle, the scan pattern being determined based on recognition of at least one of the following situation types: driving on a highway, driving off-road, driving in the rain, driving in snow, driving in fog, driving in an urban area, driving in a rural area, driving in an area near a predefined facility, turning left, turning right, crossing a lane, and approaching a crosswalk.

190. 175. The LIDAR system of claim 174, wherein the at least one processor is further configured to modify the optical budget based on at least one of operating parameters of the LIDAR system and detection information provided by the LIDAR system.

191. 175. The LIDAR system of claim 174, wherein the optical budget is associated with a plurality of light sources deployed at different locations around the vehicle, the optical budget defining an amount of emittable light from the plurality of light sources available for allocation in the predetermined period of time, and the at least one processor is further configured to dynamically allocate the optical budget based on the received information.

192. 192. The LIDAR system of claim 191, wherein the processor is configured to vary a ratio of an optical budget allocation for a first light source in the plurality of light sources to an optical budget allocation for a second light source in the plurality of light sources.

193. 175. The LIDAR system of claim 174, wherein the platform conditions of the LIDAR system include at least one of vehicle operating parameters, environmental conditions, driving decisions, vehicle navigation states, or power management modes.

194. the environmental conditions include at least one of weather conditions, lighting conditions, temperature of the environment, and proximity to facilities of a given type; The driving decisions include at least one of a rural-related instruction, an urban-related instruction, a current speed of a vehicle including the LIDAR system, a next driving maneuver, a driving navigation event, a manual driving instruction, and an automated driving instruction; 200. The LIDAR system of claim 193, wherein the power management modes include at least one of an indication of a normal power operating mode and a power saving mode.

195. 1. A method for detecting an object using a LIDAR system, comprising: accessing an optical budget stored in a memory, the optical budget being associated with at least one light source and defining an amount of light that can be emitted by the at least one light source within a predetermined period of time; receiving information regarding vehicle operating parameters, including at least one of environmental conditions, driving decisions, and power management modes; dynamically allocating the optical budget to a field of view of the LIDAR system based on at least two of a scan rate, a scan pattern, a scan angle, a spatial light distribution, and a temporal light distribution based on the received information; and outputting a signal to control the at least one light source to vary light flux in scanning the field of view according to the dynamically allocated optical budget.

196. 200. The method of claim 194, wherein dynamically allocating the optical budget based on the spatial light distribution comprises projecting more light toward a first portion of the field of view than a second portion of the field of view during a single scan cycle.

197. 200. The method of claim 196, further comprising obtaining an identification of the first region as a region of interest and an identification of the second region as a region of non-interest.

198. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: accessing an optical budget stored in a memory, the optical budget being associated with at least one light source and defining an amount of light that can be emitted by the at least one light source within a predetermined period of time; receiving information regarding vehicle operating parameters, including at least one of environmental conditions, driving decisions, and power management modes; dynamically allocating the optical budget to a field of view of the LIDAR system based on at least two of a scan rate, a scan pattern, a scan angle, a spatial light distribution, and a temporal light distribution based on the received information; outputting a signal to control the at least one light source to vary light flux in scanning the field of view according to the dynamically allocated optical budget; A non-transitory computer readable storage medium comprising:

199. 1. A LIDAR system for dynamically allocating an amount of light emittable by at least one light source within a predetermined period of time, comprising: At least one processor, receiving information regarding vehicle operating parameters, including at least one of environmental conditions, driving decisions, and power management modes; dynamically allocating light emitted by the at least one light source by varying at least two of a scan rate, a scan pattern, a scan angle, a spatial light distribution, and a temporal light distribution based on the received information; outputting a signal for controlling the at least one light source to vary a light flux when scanning a field of view according to the dynamic distribution of light emitted by the at least one light source; 16. A LIDAR system comprising: at least one processor configured to:

200. 1. A vibration suppression system for a LIDAR configured for use on a vehicle, comprising: At least one processor, controlling the at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling the positioning of at least one optical deflector to deflect light from the at least one light source to scan the field of view; acquiring data indicative of vibrations of the vehicle; determining an adjustment to the positioning of the at least one optical deflector to compensate for the vibration of the vehicle based on the acquired data; implementing the determined adjustment to the positioning of the at least one optical deflector to at least partially counteract an effect of the vibration of the vehicle on the scanning of the field of view at the at least one optical deflector.

16. A vibration suppression system comprising: at least one processor configured to:

201. 201. The LIDAR system of claim 200, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a scan cycle.

202. 202. The LIDAR system of claim 201, wherein the at least one processor is configured to coordinate control of the at least one optical deflector with control of the at least one light source such that when the at least one optical deflector is positioned at a particular instantaneous position, a light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection from the object is deflected by the at least one optical deflector toward at least one sensor.

203. 202. The LIDAR system of claim 201, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct areas forming the field of view.

204. 201. The system of claim 200, wherein the data indicative of the vibration of the vehicle includes information received from a sensor other than the at least one optical deflector.

205. 201. The system of claim 200, wherein the data indicative of the vibration of the vehicle includes information received from at least a portion of the at least one optical deflector.

206. 201. The system of claim 200, further comprising a plurality of optical deflectors configured to move to enable scanning of the field of view with deflected light from the at least one light source, and the at least one processor is further configured to use at least one of the plurality of optical deflectors as a vibration sensor to determine the data indicative of the vibration of the vehicle.

207. 201. The system of claim 200, wherein the at least one processor is further configured to receive the data indicative of the vibration of the vehicle from an additional sensor configured to detect a current position of the at least one optical deflector.

208. The system of claim 200, further comprising a plurality of optical deflector elements configured to move to deflect reflections of light toward at least one sensor, the at least one processor further configured to receive the data from an additional sensor, the data including information indicating a current position of at least one of the plurality of optical deflector elements, and the at least one processor further configured to use the data to correct the position of each of the plurality of optical deflector elements.

209. 209. The system of claim 208, wherein each of the optical deflector elements includes a pivotable mirror.

210. The system of claim 200, further comprising a plurality of optical deflector elements configured to move to enable scanning of the field of view with deflected light from the at least one light source, the at least one processor further configured to receive the data from at least one additional sensor, the data including information indicating a current position of each of the plurality of optical deflector elements, information indicating the current position of each optical deflector element, and correcting the position of each optical deflector element using the information unique to each optical deflector element.

211. 211. The system of claim 210, wherein the at least one optical deflector comprises a MEMS mirror array, and each of the plurality of optical deflector elements comprises a separate mirror within the MEMS mirror array.

212. 201. The system of claim 200, further comprising a control loop for accessing a required position of the at least one optical deflector, determining an instantaneous angular position of the at least one optical deflector, and modifying the instantaneous angular position of the at least one optical deflector to compensate for a difference between the required position and the instantaneous angular position.

213. 213. The system of claim 212, wherein the at least one processor is further configured to determine the instantaneous angular position of the at least one optical deflector based on at least one of an optical measurement, a capacitance measurement, a piezoelectric resistance measurement, a dielectric constant measurement, and a piezoelectric polarization measurement.

214. 201. The system of claim 200, wherein the at least one processor is further configured to obtain an input indicating a tilt angle of the vehicle, determine an adjustment to the positioning of the at least one optical deflector based on the input, and move the at least one optical deflector based on the determined adjustment.

215. 201. The system of claim 200, wherein the at least one processor is further configured to vary at least one of a scan rate, a scan pattern, a spatial light distribution, and a temporal light distribution based on the data indicative of the vibration of the vehicle.

216. 201. The system of claim 200, wherein the at least one optical deflector has a resonant frequency of less than 1000 Hz.

217. 201. The system of claim 200, wherein the at least one optical deflector comprises a single MEMS mirror having a width of at least 4.5 mm.

218. 201. The system of claim 200, wherein the at least one optical deflector comprises a two-dimensional array of mirrors, each mirror having a width of at least 2 mm.

219. 201. The system of claim 200, wherein the at least one processor is further configured to control one or more actuators including a piezoelectric material to position the at least one optical deflector so that the at least one optical deflector deflects light toward different portions of the field of view during a scan cycle.

220. 1. A method for suppressing vibrations in a LIDAR configured for use in a vehicle, comprising: controlling at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling the positioning of at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining data indicative of vibrations of the vehicle; determining an adjustment to the positioning of the at least one optical deflector to compensate for the vibration of the vehicle based on the acquired data; implementing the determined adjustment to the positioning of the at least one optical deflector to at least partially counteract an effect of the vibration of the vehicle on the scanning of the field of view at the at least one optical deflector; The method includes:

221. 221. The method of claim 220, wherein the at least one optical deflector has a resonant frequency of less than 1000 Hz.

222. 221. The method of claim 220, wherein the data indicative of vibrations of the vehicle includes at least one of information related to measurements of vibrations of the vehicle and information related to measurements of vibrations of the LIDAR affected by vibrations of the vehicle.

223. 221. The method of claim 220, further comprising accessing a required position of the at least one optical deflector, determining an instantaneous angular position of the at least one optical deflector, and modifying the instantaneous angular position of the at least one optical deflector to compensate for a difference between the required position and the instantaneous angular position.

224. 224. The method of claim 223, wherein determining the instantaneous angular position of the at least one optical deflector is based on at least one of an optical measurement, a capacitance measurement, a piezoresistance measurement, a dielectric constant measurement, and a piezoelectric polarization measurement.

225. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for suppressing vibrations of a vehicle having a LIDAR disposed therein, the method comprising: controlling at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling the positioning of at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining data indicative of vibrations of the vehicle; determining an adjustment to the positioning of the at least one optical deflector to compensate for the vibration of the vehicle based on the acquired data; and at least partially countering an effect of the vibration of the vehicle on the scanning of the field of view by controlling the at least one optical deflector based on the determined adjustment. A non-transitory computer readable storage medium comprising:

226. At least one processor, controlling at least one light source to vary a flux of light from the at least one light source in a scan cycle of a field of view, the light projected from the at least one light source being directed to at least one deflector to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; Coordinating the beams and the scans such that at least three sectors of the field of view are generated in a scan cycle, a first sector having a first beam and an associated first detection range, a second sector having a second beam and an associated second detection range, and a third sector having a third beam and an associated third detection range, the second beam being greater than each of the first beam and the third beam; detecting an object in the second sector that is located at a distance greater than the first detection range and the third detection range based on an input from the at least one sensor; 16. A LIDAR system comprising: at least one processor configured to:

227. 227. The LIDAR system of claim 226, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a scan cycle of the field of view.

228. 228. The LIDAR system of claim 227, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor.

229. 228. The LIDAR system of claim 227, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is positioned at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

230. 228. The LIDAR system of claim 227, wherein the at least one processor is further configured to control the at least one light source to vary a flux of light from the at least one light source over multiple scan cycles and to move the second sector relative to the first sector and the third sector.

231. 231. The LIDAR system of claim 230, wherein the at least one processor is further configured to move the second sector in a sweeping motion within the field of view as a vehicle on which the LIDAR system is deployed moves.

232. 232. The LIDAR system of claim 231, wherein the at least one processor is further configured to select a default sweep pattern for the second sector based on a current driving mode of the vehicle.

233. 232. The LIDAR system of claim 231 , wherein the at least one processor is further configured to detect objects in the second sector farther than outer boundaries of the first sector and the third sector, and to detect the objects in the second sector over multiple sweeps.

234. 231. The LIDAR system of claim 230, wherein the at least one processor is further configured to control the at least one light source such that each of the first light flux, the second light flux, and the third light flux has substantially the same light flux value for at least two successive scan cycles.

235. 232. The LIDAR system of claim 231, wherein the at least one processor is further configured to sweep the second sector non-continuously such that in a first group of scan cycles the second sector sweeps a first area of ​​the field of view and in a second consecutive group of scan cycles the second sector sweeps a second area of ​​the field of view other than the first area.

236. 227. The LIDAR system of claim 226, wherein the at least one processor is further configured to control the at least one light source such that the first light flux and the third light flux are substantially equal to one another for at least two consecutive scan cycles.

237. 227. The LIDAR system of claim 226, wherein the at least one processor is further configured to control the at least one light source such that the first beam is greater than the third beam for at least two consecutive scan cycles.

238. 227. The LIDAR system of claim 226, wherein the at least one processor is further configured to coordinate the beam and scan such that the second sector is completely surrounded by the first and third sectors.

239. 239. The LIDAR system of claim 238, wherein the at least one processor is further configured to sweep the second sector in multiple successive scan cycles such that at least a portion of the second sector is below the horizon in each scan cycle.

240. 227. The LIDAR system of claim 226, wherein the second detection range extends at least 50% farther than the first and third detection ranges.

241. 1. A method for detecting an object using LIDAR, comprising: controlling at least one light source to vary a flux of light from the at least one light source in a scan cycle of a field of view, the light projected from the at least one light source being directed to at least one optical deflector to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; Coordinating the beams and scans such that at least three sectors are generated in a scan cycle, a first sector having a first beam and an associated first point resolution, a second sector having a second beam and an associated second point resolution, and a third sector having a third beam and an associated third point resolution, the second beam being greater than each of the first beam and the third beam; detecting an object in the second sector at a point resolution greater than the first point resolution and the third point resolution based on input from the at least one sensor; The method includes:

242. 242. The method of claim 241, further comprising detecting objects in the second sector using a second point resolution, wherein an average spacing between points in the second sector is less than about 50% of an average spacing between points in the first sector and the third sector.

243. 242. The method of claim 241, wherein information derivable from reflections from the second sector enables detection of objects with greater accuracy than information derivable from reflections from the first sector and the third sector.

244. 242. The method of claim 241, further comprising coordinating the beam and the scan so that the second sector is completely surrounded by the first and third sectors.

245. 242. The method of claim 241, further comprising controlling the at least one light source such that the first light beam and the third light beam are substantially identical and the second detection range extends at least 50% farther than the first detection range and the third detection range.

246. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system, the method comprising: controlling at least one light source to vary a light flux from said at least one light source in a scanning cycle of a field of view, said light projected from said at least one light source being directed to at least one optical deflector to scan said field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; Coordinating the light beams and the scans such that at least three sectors are generated in a scan cycle, a first sector having a first light beam and an associated first detection range, a second sector having a second light beam and an associated second detection range, and a third sector having a third light beam and an associated third detection range, the second light beam being greater than each of the first light beam and the third light beam; detecting an object in the second sector located at a distance greater than the first detection range and the third detection range based on an input from the at least one sensor; A non-transitory computer readable storage medium comprising:

247. At least one processor, controlling the at least one light source to vary a light flux of the at least one light source over a plurality of scans of a field of view including a near field portion and a far field portion; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; performing a first scan rate for a first frame associated with a scan cycle covering the near field portion and a second scan rate for a second frame associated with a scan cycle covering the far field portion, the first scan rate being greater than the second rate; controlling the at least one light source to change light source parameters after projecting light enabling detection of an object in a plurality of sequential first frames associated with the near field portion, thereby projecting light enabling detection of an object in the second frames associated with the far field portion; 16. A LIDAR system comprising: at least one processor configured to:

248. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during the scan cycle.

249. The LIDAR system of claim 248, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection from the object is deflected by the at least one optical deflector toward at least one sensor.

250. 249. The LIDAR system of claim 248, further comprising a plurality of light sources aimed at a common area on the at least one optical deflector, the at least one processor being further configured to control the at least one optical deflector such that when the at least one optical deflector is positioned at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

251. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to control the light source to enable detection of objects in the near field portion of the field of view that is less than 50 meters from the LIDAR system and further to enable detection of objects in the far field portion of the field of view that is greater than 100 meters from the LIDAR system.

252. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to receive information related to the second frame from the at least one sensor to detect objects located in the far field portion of the field of view.

253. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to receive information related to the second frame from the at least one sensor to detect objects located in the near field portion of the field of view.

254. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to implement a first scan rate that is at least five times faster than the second scan rate.

255. 248. The LIDAR system of claim 247, wherein a detection range associated with the second frame extends at least 50% farther than a detection range associated with the first frame.

256. 248. The LIDAR system of claim 247, wherein an average spacing between points in the first frame is less than about 75% of the average spacing between points in the second frame.

257. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to control the at least one light source such that a spatial light distribution in the first frame differs from a spatial light distribution in the second frame and substantially the same amount of light is emitted in the first frame as in the second frame.

258. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to control the at least one light source such that a first light distribution scheme is used in the first frame and a second light distribution scheme other than the first light distribution scheme is used in the second frame.

259. 259. The LIDAR system of claim 258, wherein during a scan cycle associated with the second light distribution scheme, more light is emitted toward areas in the far field portion closer to the horizon of the field than is emitted toward areas in the near field portion associated with the first light distribution scheme.

260. 248. The LIDAR system of claim 247, wherein the at least one processor is further configured to implement the first scan rate and the second scan rate based on a current driving mode of a vehicle housing the LIDAR system.

261. 248. The LIDAR system of claim 247, wherein at least one processor is further configured to implement the first scan rate and the second scan rate based on a current speed of a vehicle housing the LIDAR system.

262. 1. A method for detecting an object using a LIDAR system, comprising: controlling at least one light source to vary a flux of light from the at least one light source over a plurality of scans of a field of view including a near field portion and a far field portion; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; performing a first scan rate for a first frame associated with a scan cycle covering the near field portion and a second scan rate for a second frame associated with a scan cycle covering the far field portion, the first scan rate being greater than the second rate; changing light source parameters after projecting light enabling detection of an object in a plurality of sequential first frames associated with the near field portion, thereby controlling the at least one light source to project light farther than the near field portion to enable detection of an object in the second frames covering the far field portion; The method includes:

263. 263. The method of claim 262, further comprising receiving information associated with the second frame from the at least one sensor to detect a first object located in the far field portion and a second object located in the near field portion of the field of view.

264. 263. The method of claim 262, wherein the first scan rate is at least five times faster than the second scan rate.

265. 263. The method of claim 262, wherein a detection distance associated with the second frame extends at least 50% farther than a detection distance associated with the first frame.

266. 263. The method of claim 262, wherein the average spacing between points in the first frame is less than about 75% of the average spacing between points in the second frame.

267. The main body, At least one processor, controlling the at least one light source to vary a light flux of the at least one light source over a plurality of scans of a field of view including a near field portion and a far field portion; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; performing a first scan rate for a first frame associated with a scan cycle covering the near field portion and a second scan rate for a second frame associated with a scan cycle covering the far field portion, the first scan rate being greater than the second rate; after projecting light enabling detection of an object in a plurality of sequential first frames associated with the near field portion, modifying light source parameters, thereby controlling the at least one light source to project light further than the near field portion to enable detection of an object in the second frames covering the far field portion. At least one processor configured to A vehicle equipped with.

268. 1. A LIDAR system for use in a vehicle, comprising: At least one processor, controlling at least one light source to vary a light flux of said at least one light source in scanning the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving an input indicative of a current driving environment of the vehicle; coordinating control of the at least one light source with control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light in scanning the field of view based on the current driving environment.

1. A LIDAR system comprising at least one processor configured to:

269. 269. The LIDAR system of claim 268, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a single scan cycle.

270. 270. The LIDAR system of claim 269, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam is deflected from the object toward at least one sensor.

271. 270. The LIDAR system of claim 269, further comprising a plurality of light sources aimed at a common area of ​​the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of separate areas forming the field of view.

272. 270. The LIDAR system of claim 269, wherein the at least one processor is further configured to dynamically adjust the instantaneous detection range in the single scan cycle such that a detection range in a first portion of the field of view increases from a previous scan cycle and a detection range in a second portion of the field of view decreases from the previous scan cycle.

273. 270. The LIDAR system of claim 269, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector during the at least one scan cycle to dynamically adjust an instantaneous resolution associated with the first portion of the field of view.

274. 270. The LIDAR system of claim 269, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector over multiple scan cycles to dynamically adjust a first scan cycle rate for detecting objects in a near field portion of the field of view and a second scan cycle rate for detecting objects in a far field portion of the field of view based on the current driving environment.

275. 269. The LIDAR system of claim 268, wherein the at least one processor is further configured to control the at least one light source based on an environment type corresponding to the received input indicative of the current driving environment.

276. 269. The LIDAR system of claim 268, wherein the received input includes at least one of rural-related instructions and urban-related instructions.

277. 277. The LIDAR system of claim 276, wherein the at least one processor is further configured to determine when the vehicle is located in an urban area and coordinate control of the at least one light source and the at least one optical deflector to generate an increased scan cycle rate compared to a scan cycle rate used in a non-urban area.

278. 269. The LIDAR system of claim 268, wherein the received input includes information related to lighting conditions.

279. 279. The LIDAR system of claim 278, wherein the at least one processor is further configured to determine when the vehicle has exited a tunnel and coordinate control of the at least one light source and the at least one optical deflector to increase light emission in at least one portion of the field of view compared to light emission used in at least one portion when the vehicle was located within the tunnel.

280. 269. The LIDAR system of claim 268, wherein the received input includes information related to weather conditions.

281. 281. The LIDAR system of claim 280, wherein the at least one processor is further configured to determine when the vehicle is operating in rainy weather and adjust a sensitivity mode associated with output from at least one sensor to ignore reflections from raindrops.

282. 269. The LIDAR system of claim 268, wherein the at least one processor is further configured to receive the input indicative of the current driving environment from at least one of a GPS, a vehicle navigation system, a vehicle controller, radar, LIDAR, and a camera.

283. 1. A method for detecting objects in a path of a vehicle using LIDAR, comprising: controlling at least one light source to vary a light flux of said at least one light source in scanning the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving an input indicative of a current driving environment of the vehicle; Coordinating the control of the at least one light source control with the control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying the amount of light projected and the spatial light distribution of light in scanning the field of view based on the current driving environment; The method includes:

284. 284. The method of claim 283, further comprising dynamically adjusting the instantaneous detection range in a single scan cycle such that a detection range in a first portion of the field of view increases from a previous scan cycle and a detection range in a second portion of the field of view decreases from the previous scan cycle.

285. 284. The method of claim 283, further comprising coordinating control of the at least one light source with control of the at least one optical deflector to dynamically adjust an instantaneous resolution associated with the first portion of the field of view.

286. 284. The method of claim 283, further comprising coordinating control of the at least one light source with control of the at least one optical deflector to dynamically adjust a first scan cycle rate for detecting objects in a near field portion of the field of view and dynamically adjust a second scan cycle rate for detecting objects in a far field portion of the field of view.

287. 284. The method of claim 283, wherein the received input includes at least one of rural-related instructions, urban-related instructions, information related to light conditions, information related to weather conditions, and information related to the speed of the vehicle.

288. A vehicle body, At least one processor located within the vehicle body, controlling at least one light source to vary a light flux of said at least one light source in scanning the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving an input indicative of a current driving environment; coordinating control of the at least one light source with control of the at least one light deflector to dynamically adjust an instantaneous detection distance by varying an amount of light projected and a spatial light distribution of light in scanning the field of view based on the current driving environment. At least one processor configured to A vehicle equipped with.

289. 1. A LIDAR system for use in a vehicle, comprising: At least one processor, controlling the at least one light source to vary a flux of light from the at least one light source over a scan cycle of the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining an input indicating an impending lane crossing turn of the vehicle; coordinating control of the at least one light source with control of the at least one optical deflector to increase light flux on a side opposite the direction of the lane crossing turn of the vehicle, including a far lane into which the vehicle is merging, relative to other portions of the field of view, thereby temporarily increasing a detection range opposite the direction of the lane crossing turn of the vehicle relative to a detection range in the direction of the lane crossing turn.

16. A LIDAR system comprising: at least one processor configured to:

290. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is momentarily positioned at a plurality of momentary positions during a scan cycle of the field of view.

291. 300. The LIDAR system of claim 290, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor.

292. 300. The LIDAR system of claim 290, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

293. 300. The LIDAR system of claim 289, wherein the at least one processor is further configured to receive the input indicating that the lane crossing turn is likely to occur from a navigation system of the vehicle.

294. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to determine the input indicating that the lane crossing turn is likely to occur based on information received from at least one sensor configured to detect reflections associated with the light projected from the at least one light source.

295. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to determine a speed of a moving object in the far lane based on the increased light flux on a side opposite a direction of the lane crossing turn of the vehicle.

296. 300. The LIDAR system of claim 295, wherein the at least one processor is further configured to generate an alert if the vehicle and the moving object are determined to be on a collision course.

297. 300. The LIDAR system of claim 295, wherein the at least one processor is further configured to generate a reflectance image of the field of view, the reflectance image including a fingerprint of the moving object representative of the amount of light reflected from various portions of the moving object.

298. 300. The LIDAR system of claim 297, wherein the at least one processor is further configured to compare the moving object's fingerprint from multiple scan cycles to a plurality of reflectance templates to determine that the moving object is a vehicle signaling a right turn.

299. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to apply a different power allocation scheme for right turns than for left turns.

300. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to receive input indicative of a current driving environment and to apply a different power allocation scheme to lane crossing turns in rural areas than to lane crossing turns in urban areas.

301. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to control at least two light sources and at least two deflectors to enable scanning of a first field of view associated with a right side of the vehicle and a second field of view associated with a left side of the vehicle.

302. 290. The LIDAR system of claim 289, wherein the at least one processor is further configured to control the at least one light source so that a greater amount of light is projected onto a first portion of the field of view that includes a road onto which the vehicle is merging than onto a second portion of the field of view that includes buildings adjacent to the road.

303. 1. A method for detecting objects in an environment of a vehicle using LIDAR, comprising: controlling at least one light source to vary a flux of light from said light source over a scan cycle of the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining an input indicating an impending lane crossing turn of the vehicle; coordinating control of the at least one light source and control of the at least one optical deflector to, in response to the input indicating that the lane crossing turn is about to occur, increase light flux on a side opposite the direction of the lane crossing turn of the vehicle, including a far lane into which the vehicle is merging, relative to other portions of the field of view, thereby temporarily increasing a detection range opposite the direction of the lane crossing turn of the vehicle relative to a detection range in the direction of the lane crossing turn. The method includes:

304. 304. The method of claim 303, further comprising receiving the input indicating that the lane crossing turn is about to occur from a navigation system of the vehicle.

305. 304. The method of claim 303, further comprising determining a speed of a moving object in the far lane based on the increased light flux on the side opposite the direction of the lane crossing turn of the vehicle.

306. 306. The method of claim 305, further comprising generating a reflectance image of the field of view, the reflectance image comprising a fingerprint of the moving object representing the amount of light reflected from different portions of the moving object.

307. 307. The method of claim 306, further comprising comparing the fingerprint of the moving object from multiple scan cycles to multiple reflectance templates to determine that the moving object is a vehicle signaling a right turn.

308. A vehicle body, At least one processor located within the vehicle body, controlling the at least one light source to vary a flux of light from the at least one light source over a scan cycle of the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; obtaining an input indicating an impending lane crossing turn of the vehicle; coordinating control of the at least one light source with control of the at least one optical deflector to increase light flux on a side opposite the direction of the lane crossing turn of the vehicle, including a far lane into which the vehicle is merging, relative to other portions of the field of view, thereby temporarily increasing a detection range opposite the direction of the lane crossing turn of the vehicle relative to a detection range in the direction of the lane crossing turn. At least one processor configured to A vehicle equipped with.

309. 1. A LIDAR system for use with a roadway vehicle traveling on a highway, comprising: At least one processor, controlling the at least one light source to vary a flux of light from the at least one light source over a scan cycle of the field of view; controlling at least one light deflector to deflect light from the at least one light source to scan the field of view, the field of view being divisible into a central region generally corresponding to the highway along which the vehicle is traveling, a right peripheral region generally corresponding to an area to the right of the highway, and a left peripheral region generally corresponding to an area to the left of the highway; obtaining input that the vehicle is in a mode corresponding to highway driving; 1. A LIDAR system comprising: at least one processor configured to: in response to the input that the vehicle is in a mode corresponding to highway driving, coordinate control of the at least one light source and control of the at least one optical deflector during a scan of the field of view that includes the central region, the right peripheral region, and the left peripheral region, such that more light is directed toward the central region than the right peripheral region and the left peripheral region.

310. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a scan cycle of the field of view.

311. 311. The LIDAR system of claim 310, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor.

312. 311. The LIDAR system of claim 310, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

313. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to receive the input from a navigation system of the vehicle that the vehicle is in a mode corresponding to highway travel.

314. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to determine the input that the vehicle is in a mode corresponding to highway travel based on information received from at least one sensor configured to detect light reflections associated with the light projected from the at least one light source.

315. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to determine that an object in the central region is present at a distance greater than a detection distance associated with the right peripheral region and the left peripheral region.

316. 316. The LIDAR system of claim 315, wherein the at least one processor is further configured to control the at least one light source such that a detection distance of the central region is at least twice as large as the detection distance of the right peripheral region and the left peripheral region.

317. 310. The LIDAR system of claim 309, wherein the right peripheral region includes a plurality of sub-regions, and the at least one processor is configured such that more light is directed to one of the plurality of sub-regions than another of the plurality of sub-regions during scanning of the field of view.

318. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to determine a spatial light scan pattern associated with a plurality of scan cycles upon obtaining data indicative of a type of road on which the vehicle is traveling.

319. 319. The LIDAR system of claim 318, wherein the road types include at least one of urban roads, highways, undivided roads, single lane roads, multi-lane roads, and roads with public transportation lanes.

320. 320. The LIDAR system of claim 319, wherein upon acquiring data indicative of a change in the type of road on which the vehicle is traveling, the LIDAR system reduces less light to the central region and directs more light to the right peripheral region and the left peripheral region compared to the light projected in a previous scan cycle.

321. 319. The LIDAR system of claim 318, wherein the at least one processor is further configured to, upon obtaining data indicative of a driving event, modify the spatial light scan pattern to direct more light to at least a portion of the right peripheral region than was directed to the at least a portion of the right peripheral region in a previous scan cycle.

322. 322. The LIDAR system of claim 321, wherein the driving events include at least one of a traffic-related event, a road-related event, an approach to a predetermined facility, and a weather-related event.

323. 310. The LIDAR system of claim 309, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector such that light having a first luminous flux is directed to the central region during a first scan cycle and light having a second luminous flux is directed to the central region during a second scan cycle, the second luminous flux being greater than the first luminous flux.

324. 1. A method for detecting objects in a path of a vehicle using LIDAR, comprising: controlling at least one light source to vary a flux of light from said light source over a scan cycle of the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view, the field of view being divisible into a central region generally corresponding to the highway along which the vehicle is traveling, a right peripheral region generally corresponding to an area to the right of the highway, and a left peripheral region generally corresponding to an area to the left of the highway; obtaining input that the vehicle is in a mode corresponding to highway travel; in response to the input that the vehicle is in a mode corresponding to highway driving, coordinating control of the at least one light source with control of the at least one light deflector such that, during a scan of the field of view including the central region, the right peripheral region, and the left peripheral region, more light is directed toward the central region than toward the right peripheral region and the left peripheral region; The method includes:

325. 325. The method of claim 324, further comprising determining that an object in the central region is present at a distance greater than a detection distance associated with the right peripheral region and the left peripheral region.

326. 325. The method of claim 324, wherein the right peripheral region includes a plurality of sub-regions, and the at least one processor is configured to direct more light to one of the plurality of sub-regions than another of the plurality of sub-regions during scanning of the field of view.

327. 325. The method of claim 324, further comprising, upon obtaining data indicative of a type of roadway on which the vehicle is traveling, determining a spatial light scan pattern associated with a plurality of scan cycles.

328. 328. The method of claim 327, further comprising, upon obtaining data indicative of a driving event, modifying the spatial light scan pattern to direct more light to at least a portion of the left peripheral region than was directed to at least a portion of the right peripheral region in a previous scan cycle.

329. A vehicle body, At least one processor located within the vehicle body, controlling the at least one light source to vary a flux of light from the at least one light source over a scan cycle of the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; controlling at least one light deflector to deflect light from the at least one light source to scan the field of view, the field of view being divisible into a central region generally corresponding to the highway along which the vehicle is traveling, a right peripheral region generally corresponding to an area to the right of the highway, and a left peripheral region generally corresponding to an area to the left of the highway; obtaining input that the vehicle is in a mode corresponding to highway driving; at least one processor configured to, in response to the input that the vehicle is in a mode corresponding to highway driving, coordinate control of the at least one light source and control of the at least one optical deflector during a scan of the field of view including the central region, the right peripheral region, and the left peripheral region such that more light is directed toward the central region than toward the right peripheral region and the left peripheral region; A vehicle equipped with.

330. At least one processor, controlling the at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving information from at least one sensor indicative of ambient light in the field of view; identifying in the received information an indication of a first portion of the field of view containing more ambient light than a second portion of the field of view; varying light source parameters such that when scanning the field of view, a greater flux of light is projected towards the first portion of the field of view than towards the second portion of the field of view; 16. A LIDAR system comprising: at least one processor configured to:

331. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a scan cycle of the field of view.

332. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor.

333. 332. The LIDAR system of claim 331, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is disposed at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

334. 332. The LIDAR system of claim 331, wherein the at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that a number of light pulses are projected toward the first portion when the at least one optical deflector is disposed at a particular instantaneous position, the number of projected light pulses being determined based on detected reflections of the projected light from objects in the first portion of the field of view.

335. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to modify the light source parameters such that an intensity of the light projected toward the first portion is greater than an intensity of the light projected toward the second portion.

336. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to modify the light source parameters such that a greater number of light pulses per solid angle are projected toward the first portion during a single scan cycle than a number of light pulses per solid angle are projected toward the second portion.

337. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to alter the light source parameters such that no light is projected toward the second portion of the field of view during at least one single scan cycle.

338. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to modify the light source parameters such that light projected toward the first portion is of a different wavelength than light projected toward the second portion.

339. 331. The LIDAR system of claim 330, wherein the at least one sensor includes a first sensor configured to detect reflections of light from objects in the field of view and a second sensor configured to measure the ambient light in the field of view.

340. 331. The LIDAR system of claim 330, wherein the at least one sensor includes a single sensor configured to detect light reflections from objects within the field of view and measure the ambient light in the field of view.

341. 341. The LIDAR system of claim 340, wherein after emission of light by the at least one light source, the at least one sensor is configured to detect reflection of light from the field of view during a first sensing period after the emission of light and to measure the ambient light within the field of view during a second sensing period after the emission of light.

342. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to identify a type of light source generating the ambient light in the field of view based on the received information and determine a value of the light source parameter based on the identified type.

343. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to identify a presence of a light source in a third portion of the field of view based on the received information and alter sensor sensitivity to reflections from the third portion.

344. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured, upon obtaining an identification of an area of ​​interest within the first portion, to alter the light source parameters such that a greater flux of light is projected toward the first portion than toward the second portion.

345. 331. The LIDAR system of claim 330, wherein the at least one processor is further configured to receive information indicative of ambient light in the field of view associated with the first portion or the second portion of the field of view from the at least one sensor during a scan cycle of the field of view, while modifying light source parameters such that a greater flux of light is projected toward the first portion of the field of view than toward the second portion of the field of view.

346. 1. A method for detecting an object using LIDAR, comprising: controlling at least one light source to vary a flux of light from the at least one light source in scanning a field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving information from at least one sensor indicative of ambient light in the field of view; identifying in the received information an indication of a first portion of the field of view containing more ambient light than a second portion of the field of view; modifying light source parameters such that when scanning the field of view, a greater flux of light is projected toward the first portion of the field of view than toward the second portion of the field of view; The method includes:

347. 347. The method of claim 346, further comprising modifying the light source parameters such that in a single scan cycle, more light pulses are projected toward the first portion than toward the second portion.

348. The method of claim 347, further comprising coordinating the at least one optical deflector with the at least one light source such that when the at least one optical deflector is positioned at a particular instantaneous position, a number of light pulses are projected toward the first portion, the number of light pulses projected toward the first portion being determined based on detected reflections of the projected light from objects in the first portion of the field of view.

349. 347. The method of claim 346, further comprising, upon obtaining an identification of an area of ​​interest within the first portion, modifying the light source parameters such that a greater flux of light is projected toward the first portion than toward the second portion.

350. 347. The method of claim 346, wherein the at least one sensor includes a first sensor configured to detect reflections of light from objects within the field of view and a second sensor configured to measure the ambient light in the field of view.

351. 1. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using LIDAR, the method comprising: controlling at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving information from at least one sensor indicative of ambient light in the field of view; identifying in the received information a first portion of the field of view that includes more ambient light than a second portion of the field of view; modifying light source parameters such that when scanning the field of view, a greater flux of light is projected toward the first portion of the field of view than toward the second portion of the field of view; A non-transitory computer readable storage medium comprising:

352. 1. A LIDAR system for use in a vehicle, comprising: at least one light source configured to project light toward a field of view to illuminate a plurality of objects within an environment of the vehicle; At least one processor, controlling the at least one light source to vary a flux of light from the at least one light source during scanning of a plurality of portions of the field of view; receiving information indicating that heat is emitted from at least one system component during scanning of the field of view; and receiving information indicating that a temperature associated with the at least one system component exceeds a threshold value. in response to the received information indicating that the temperature exceeds the threshold, altering an illumination ratio between two portions of the field of view such that less light is delivered to the field of view during at least one subsequent scan cycle than in a prior scan cycle. At least one processor configured to A LIDAR system comprising:

353. 353. The LIDAR system of claim 352, wherein the at least one processor is further configured to control the at least one optical deflector such that the at least one optical deflector is positioned at a plurality of different instantaneous positions during a scan cycle of the field of view.

354. The at least one processor is further configured to coordinate the at least one optical deflector with the at least one light source such that, when the at least one optical deflector is disposed at a particular instantaneous position, a portion of the light beam is deflected by the at least one optical deflector from the at least one light source toward an object in the field of view and a reflection of the portion of the light beam from the object is deflected by the at least one optical deflector toward at least one sensor. The LIDAR system of claim 353.

355. 354. The LIDAR system of claim 353, further comprising a plurality of light sources aimed at the at least one optical deflector, the at least one processor further configured to control the at least one optical deflector such that when the at least one optical deflector is positioned at a particular instantaneous position, light from the plurality of light sources is projected toward a plurality of distinct regions of the field of view.

356. 354. The LIDAR system of claim 353, wherein the at least one processor is further configured to determine a spatial light distribution of light in a single scan cycle of the field of view and modify the illumination ratio such that more light is projected toward a first portion of the field of view than a second portion of the field of view.

357. 357. The LIDAR system of claim 356, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector such that the same amount of light is projected toward the first portion during the at least one subsequent scan cycle as was projected in the previous scan cycle.

358. 357. The LIDAR system of claim 356, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector to project more light pulses toward the first portion than are projected toward the second portion.

359. 357. The LIDAR system of claim 356, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector over multiple scan cycles to dynamically adjust a first scan cycle rate for illuminating the first portion and a second scan cycle rate for illuminating the second portion.

360. The at least one processor further comprises: Obtaining an identification of a region of interest within a first portion of the field of view; varying the illumination ratio between the first and second portions of the field of view such that more light is directed toward the first portion than the second portion of the field of view during the at least one subsequent scan cycle.

353. The LIDAR system of claim 352, configured as follows:

361. 361. The LIDAR system of claim 360, wherein the at least one processor is further configured to obtain an identification of a region of non-interest within the second portion of the field of view.

362. 353. The LIDAR system of claim 352, wherein the at least one processor is further configured to receive the information from a sensor connectable to the at least one processor indicating that the temperature associated with the at least one system component exceeds the threshold.

363. 353. The LIDAR system of claim 352, wherein the at least one processor is further configured to receive the information from a vehicle controller indicating that the temperature associated with the at least one system component exceeds the threshold.

364. 353. The LIDAR system of claim 352, wherein the received information includes at least one of information regarding a temperature of an environment outside the vehicle, information regarding the heat of the vehicle's engine, information regarding a temperature of the at least one light source, and information regarding a temperature of the at least one processor.

365. 353. The LIDAR system of claim 352, wherein the at least one processor is further configured to determine the threshold value based on information regarding a temperature of an environment surrounding the vehicle.

366. 353. The LIDAR system of claim 352, wherein the at least one processor is further configured to reduce resolution over a portion of the field of view during the at least one subsequent scan cycle in response to the received information indicating the temperature exceeds the threshold.

367. A vehicle, A vehicle body, at least one light source configured to project light toward a field of view to illuminate a plurality of objects within an environment of the vehicle; At least one processor located within the vehicle body, controlling the at least one light source to vary a flux of light from the at least one light source in scanning a plurality of portions of the field of view, wherein heat is radiated from at least one vehicle component during scanning of the field of view; receiving information indicating that a temperature associated with at least one system component exceeds a threshold; and in response to the received information, varying an illumination ratio between two portions of the field of view such that during at least one subsequent scan cycle less light is delivered to the field of view than during a prior scan cycle. At least one processor configured to A vehicle equipped with.

368. 368. The vehicle of claim 367, wherein the at least one processor is further configured to determine a spatial light distribution of light in a single scan cycle of the field of view and modify the illumination ratio so that more light is projected toward a first portion of the field of view than a second portion of the field of view.

369. 368. The vehicle of claim 367, wherein the at least one processor is further configured to coordinate control of the at least one light source and the at least one optical deflector so that an amount of light projected toward the first portion during a subsequent scan cycle is substantially equal to an amount of light projected toward the first portion in a previous scan cycle.

370. The at least one processor further comprises: Obtaining an identification of a region of interest within a first portion of the field of view and an identification of a region of non-interest within a second portion of the field of view; changing the illumination ratio between the first and second portions of the field of view such that more light is directed toward the first portion than the second portion during the at least one subsequent scan cycle. The vehicle of claim 367, configured as follows.

371. 368. The vehicle of claim 367, wherein the at least one processor is further configured to determine the value of the threshold based on information regarding a temperature of an environment external to the vehicle.

372. A non-transitory computer readable storage medium storing instructions that, when executed by at least one processor, cause the at least one processor to perform a method for detecting objects using a LIDAR system including at least one light source configured to project light toward a field of view to illuminate a plurality of objects within an environment of a vehicle, the method comprising: controlling the at least one light source to vary a flux of light from the at least one light source in scanning a plurality of portions of the field of view, wherein heat is emitted from at least one system component during scanning of the field of view; receiving information indicating that a temperature associated with at least one system component exceeds a threshold; In response to the received information, varying an illumination ratio between two portions of the field of view such that during at least one subsequent scan cycle less light is delivered to the field of view than during a prior scan cycle; A non-transitory computer readable storage medium comprising:

373. 1. A LIDAR system comprising: a window for receiving light; a micro-electro-mechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element; the piezoelectric element is configured to bend the body and move the MEMS mirror when an electric field is applied, and the MEMS mirror is oriented relative to the window when the MEMS mirror is positioned in an idle position.

374. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; a first segment connected to the MEMS mirror and a second segment connected to the actuator, the first segment and the second segment being mechanically coupled to one another.

375. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; The MEMS mirror is elliptical and the actuator includes at least three independently controlled actuators.

376. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; the actuators include a first pair of actuators opposed to one another along a first direction and a second pair of actuators opposed to one another along a second direction, the first pair of actuators being different from the second pair of actuators, the window, the MEMS mirror, the frame, and the actuators forming a unit, the unit responding differently to mechanical vibrations propagating along the first direction and mechanical vibrations propagating along the second direction.

377. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; 1. A LIDAR system, wherein a first actuator includes a piezoelectric element positioned below the body of the actuator and a second actuator includes a piezoelectric element positioned above the body of the other piezoelectric element.

378. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; The actuator includes a dummy piezoelectric element mechanically coupled to the body, the LIDAR system further comprising a sensor configured to sense a state of the dummy piezoelectric element.

379. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; The LIDAR system further comprises a variable capacitor and a sensor, a capacitance of the variable capacitor representing a spatial relationship between the frame and one of the actuators, and the sensor configured to sense the capacitance of the variable capacitor.

380. 1. A LIDAR system comprising: a window for receiving light; a micro-electro-mechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element; a control signal source configured to receive an electric field induced by the control signal from a control signal source and to deflect the body and move the MEMS mirror, the control signal being provided to electrodes of the LIDAR system, the control signal having an alternating bias component and a steering component, the bending of the body being responsive to the steering component, the frequency of the alternating bias component being greater than a maximum frequency of the steering component, and the sensor configured to detect a change in the dielectric constant of the actuator due to the bending of the actuator.

381. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; A LIDAR system, wherein the window is attached to a housing, the housing being a sealed housing that contains the MEMS mirror, the frame, and the actuator.

382. 1. A LIDAR system comprising: a window for receiving light; a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light; a frame; actuators; and an interconnect element mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element configured to bend the body and move the MEMS mirror when an electric field is applied thereto; A LIDAR system, wherein one of the interconnection elements includes a plurality of segments mechanically coupled to one another by at least one joint.

383. The at least one processor further comprises: controlling the at least one deflector to deflect light from a plurality of light sources along a plurality of outbound paths toward a plurality of regions forming a field of view while the at least one deflector is in a particular instantaneous position; controlling the at least one deflector such that, when the at least one deflector is in the particular instantaneous position, light reflections from the field of view are received on at least one common area of ​​the at least one deflector, at least a portion of the light reflections of at least some of the plurality of light sources are incident on and overlap one another in the at least one common area; receiving at least one signal from each of a plurality of detectors indicative of light reflection from the at least one common area while the at least one deflector is in the particular instantaneous position; 127. The LIDAR system of claim 126, configured as follows:

384. The at least one processor further comprises: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; determining whether an object is located within a threshold distance from the at least one optical deflector in an intermediate area of ​​the LIDAR system based on the reflected signal of the initial optical emission, the threshold distance being related to a safety distance; controlling said at least one light source to project an additional light emission towards said intermediate area if no object is detected in said intermediate area, thereby enabling detection of objects further away than said intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the intermediate area does not exceed a maximum allowable exposure when an object is detected in the intermediate area.

384. The LIDAR system of claim 383, configured as follows:

385. The at least one processor further comprises: controlling at least one light source to vary a light flux in scanning a field of view with light from the at least one light source; controlling at least one optical deflector to deflect light from the at least one light source to scan the field of view; receiving a reflected signal from at least one sensor indicative of light reflected from objects within the field of view; determining whether an object is located within a threshold distance from the at least one optical deflector in an intermediate area of ​​the LIDAR system based on the reflected signal of the initial optical emission, the threshold distance being related to a safety distance; controlling said at least one light source to project an additional light emission towards said intermediate area if no object is detected in said intermediate area, thereby enabling detection of objects further away than said intermediate area; regulating at least one of the at least one light source and the at least one light deflector such that a cumulative energy density of the light in the intermediate area does not exceed a maximum allowable exposure when an object is detected in the intermediate area.

152. The LIDAR system of claim 151, configured as follows:

386. 386. The LIDAR system of claim 385, further comprising an array of photodetectors.

387. 387. The LIDAR system of claim 386, further comprising at least one microlens configured to direct light toward the array of photodetectors.

388. a window for receiving light, a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light, a frame, actuators, and interconnect elements mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element; 201. The LIDAR system of claim 200, wherein the piezoelectric element is configured to bend the body and move the MEMS mirror when an electric field is applied, and when the MEMS mirror is positioned in an idle position, the MEMS mirror is oriented relative to the window.

389. The at least one processor further comprises: controlling the at least one light source to vary a flux of light from the at least one light source in scanning the field of view; controlling the positioning of at least one optical deflector to deflect light from the at least one light source to scan the field of view; acquiring data indicative of vibrations of the vehicle; determining an adjustment to the positioning of the at least one optical deflector to compensate for the vibration of the vehicle based on the acquired data; 127. The LIDAR system of claim 126, configured to implement the determined adjustments to the positioning of the at least one optical deflector to at least partially counteract an effect of the vibrations of the vehicle on the scanning of the field of view at the at least one optical deflector.

390. a window for receiving light, a microelectromechanical (MEMS) mirror for deflecting the light to provide a deflected light, a frame, actuators, and interconnect elements mechanically connected between the actuators and the MEMS mirror, each actuator including a body and a piezoelectric element; 390. The LIDAR system of claim 389, wherein the piezoelectric element is configured to bend the body and move the MEMS mirror when an electric field is applied, and when the MEMS mirror is positioned in an idle position, the MEMS mirror is oriented relative to the window.

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