Selective attenuation of light provided for detector in lidar sensor based on signal intensity

Abstract

To selectively attenuate light provided for a detector in a LIDAR sensor.SOLUTION: A light detection and ranging (LiDAR) sensor includes detector(s), attenuator(s) and processor (s). The detector(s) receives back-scattered light back-scattered from at least one measurement position to determine current intensity of the back-scattered light. The attenuator(s) is arranged between the at least one measurement position and the at least one detector. The processor(s) is configured to select at least one of (1) a specific attenuator or (2) a used attenuation levels on the basis of the current intensity of the back-scattered light. The specific attenuator is configured to selectively attenuate the back-scattered light on the basis of at least one of (1) characteristics of the specific attenuator or (2) the used attenuation level selected by at least one processor for the current intensity of the back-scattered light.SELECTED DRAWING: None

Description

[Technical field]

[0001] Light detection and ranging (LiDAR) sensors use light to determine distance to objects and / or atmospheric properties such as temperature, density, wind, humidity, aerosol measurements, and / or turbulence. Summary of the Invention

[0002] 1. A light detection and ranging (LiDAR) sensor comprising: at least one detector configured to receive backscattered light from at least one measurement location and determine a current intensity of the backscattered light; at least one attenuator disposed between the at least one measurement location and the at least one detector; and at least one processor configured to select at least one of (1) a particular attenuator or (2) an attenuation level to use based on the current intensity of the backscattered light, wherein the particular attenuator is configured to selectively attenuate the backscattered light based on at least one of (1) characteristics of the particular attenuator or (2) the attenuation level to use selected by the at least one processor for the current intensity of the backscattered light.

[0003] 1. A method of operating a light detection and ranging (LiDAR) sensor, comprising: receiving, at a detector, backscattered light backscattered from at least one measurement location; determining, at the detector, a current intensity of the backscattered light; using at least one processor, selecting, based on the current intensity of the backscattered light, at least one of (1) a particular attenuator or (2) an attenuation level to use; and selectively attenuating the backscattered light based on at least one of (1) characteristics of the particular attenuator or (2) the attenuation level to use selected for the current intensity of the backscattered light.

[0004] 1. A system comprising: a light detection and ranging (LiDAR) sensor configured to receive backscattered light having a current intensity from at least one atmospheric region; at least one attenuator configured to attenuate the current intensity of the backscattered light; and circuitry configured to determine a current intensity of the backscattered light and cause the at least one attenuator to attenuate the backscattered light based on the current intensity. [Brief description of the drawings]

[0005] Example embodiments will be described with additional specificity and detail through the use of the accompanying drawings, with the understanding that the drawings illustrate example embodiments only and therefore should not be considered limiting in scope. [Figure 1A] FIG. 1 is a block diagram illustrating an example system having a LiDAR sensor. [Figure 1B] FIG. 1 is a block diagram illustrating an example system having a LiDAR sensor. [Figure 1C] FIG. 1 is a block diagram illustrating an example system having a LiDAR sensor. [Diagram 2] 1 is an exemplary method for operating a LiDAR sensor.

[0006] According to common practice, the various features described are not drawn to scale but rather to emphasize particular features relevant to the exemplary embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] In the following detailed description, reference is made to the accompanying drawings, which form a part hereof, and in which specific exemplary embodiments are shown by way of illustration. It should be understood, however, that other embodiments may be utilized and that logical, mechanical, and electrical changes may be made. Furthermore, the methods presented in the drawings and specification should not be construed as limiting the order in which individual steps may be performed. Accordingly, the following detailed description is not to be construed in a limiting sense.

[0008] In an example, a light detection and ranging (LiDAR) sensor may be used to determine distance to an object using light. In an example, a LiDAR sensor and system may generate a representation of the surrounding environment. In an example, a LIDAR system may generate a large amount of data, allowing a detailed representation of the environment based on measurements of distance to objects (including distance from the ground or from objects fixed to the ground). In an example, a LiDAR that uses measurements of distance to objects may be referred to as a hard target LiDAR.

[0009] In examples, atmospheric LiDAR sensors are used to determine atmospheric properties such as temperature, density, wind, humidity, aerosol measurements, and / or turbulence. In examples, LiDAR sensors can be used to characterize the atmosphere by looking at backscattered light from particles and molecules in the air. In examples, LiDAR sensors and systems can generate a representation of the surrounding environment from the ground to the thermosphere. In examples, LIDAR systems can generate large amounts of weather data and allow for a detailed representation of the environment based on measurements of the backscattered light. In examples, LiDARs that determine atmospheric properties may be referred to as atmospheric LiDARs and / or hard target LiDARs.

[0010] In an example, an atmospheric LiDAR sensor may detect a 10 order of magnitude difference in the intensity of the backscattered light between measurements at low altitude and measurements at high altitude. In an example, the difference in the intensity of the backscattered light at low and high altitude is based on the density of particles in the air at low and high altitude. In an example, a LiDAR sensor may detect a large difference between the strongest and weakest signal strengths, where the strong signal may be 100,000 times or more stronger than the weakest signal. In an example, a single detector cannot handle both high and low signal levels in an atmospheric LiDAR sensor (or other LiDAR sensors with large differences between the strongest and weakest signals). In an example, the detector cannot handle that range of signals and either saturates for the higher signals or is too noisy to measure the lower signals. In an example, it is still necessary to measure both ends of the spectrum of the strongest and weakest signal strengths. In an example, multiple detectors are used together to detect different signal levels (such as high and low signals), which adds significant complexity and cost to the LiDAR sensor system. In examples using multiple detectors, the quantity of detectors may be selected to balance performance against complexity and cost. In examples, a LiDAR sensor system with too few detectors may not be able to handle the dynamic range required to detect widely differing signal levels. In examples, adding new sensors or detectors increases at least one of size, weight, power, and cost (SWaP-C) to an unacceptable level.

[0011] In examples described in more detail herein, an attenuator is used to rapidly increase or decrease the intensity (throughput of light) before it reaches the detector, allowing a single detector (or at least fewer detectors) to be used to detect the intensity of the backscattered light over a range of intensities. In examples, at least one attenuator (such as a variable attenuator or multiple fixed attenuators) is used to reduce the intensity of the backscattered light at low altitudes and allow more backscattered light to enter at higher altitudes, thereby minimizing or eliminating the need for multiple detectors by reducing the dynamic range that needs to be measured by the LiDAR sensor system to measure at both low and high altitudes. In examples, at least one attenuator (such as a variable attenuator or multiple fixed attenuators) is used to modulate the input signal in a rapid and controlled manner. In examples, the at least one attenuator may include a chopper, a photoelastic modulator and polarizer, a fiber attenuator, and / or a free space attenuator. In examples, the at least one attenuator may be placed at several locations before the light reaches the detector(s). In examples, the at least one attenuator may be integrated into the LiDAR system to improve system performance and reduce costs. The use of at least one attenuator with atmospheric LiDAR is useful due to the high dynamic range that needs to be measured by the LiDAR sensor system at both low and high altitudes, although in examples the use of at least one attenuator can also be used with other LiDAR systems measuring other distances or ranges besides altitude.

[0012] 1A-1C are block diagrams illustrating exemplary systems 100A-100C. In examples, the systems 100A-100C can be implemented on board a vehicle, coupled to a vehicle, held by a person, etc. The use of the term "vehicle" is not intended to be limiting and includes all classes of vehicles within the ordinary meaning of the term, including, but not limited to, airborne mobile vehicles (e.g., commercial aircraft, non-commercial aircraft, or recreational aircraft), unmanned and / or spaceborne mobile vehicles (e.g., satellites, urban airborne mobile vehicles), waterborne mobile vehicles (e.g., ships, submarines), and ground mobile vehicles (e.g., automobiles, including passenger cars, trucks, and motorcycles). Throughout this disclosure, a vehicle may be described as an aircraft, with the understanding that the principles described herein apply to other vehicles where applicable.

[0013] 1A is a block diagram of a system 100A having a light detection and ranging (LiDAR) sensor 102A having components (optionally referred to as a transmitter 104 and a receiver 106) including at least one at least one laser source 108, at least one attenuator 110 (including attenuator 110-1 and any quantity of optional attenuators 110 through optional attenuator 110-A), at least one detector 112, and at least one processor 114. In an example, the at least one laser source 108 is configured to emit laser light 116 (or other light) toward a measurement location 118A (an atmospheric region, a particle, an object, a ground, a surface, etc.). In an example, the at least one laser source 108 can be any type of light source generator, including any type of laser. In an example, at least one laser source 108 is communicatively coupled to at least one optional optical component 120 that focuses, expands, or otherwise conditions the laser light 116 (or other light) emitted from the laser source 108.

[0014] In examples, at least a portion of the laser light 116 is backscattered from the measurement location 118A as backscattered light 122. In examples, the measurement location includes at least one atmospheric region, and the backscattered light is backscattered from the at least one atmospheric region and used to measure atmospheric properties (such as temperature, density, wind, humidity, aerosol measurements, and turbulence). In examples, the measurement location 118A includes at least one atmospheric region and / or at least one particle, and the light is backscattered from the at least one atmospheric region and / or at least one particle. In examples, the measurement location 118A includes at least one object and / or at least one surface (such as the ground), and the backscattered light is reflected from the at least one object and / or at least one surface and can be used to measure distance to the at least one object and / or at least one surface.

[0015] In an example, the backscattered light 122 passes through at least one attenuator 110 via at least one optional optical component 124, and is received at at least one detector 112 via at least one optional optical component 126. In an example, the at least one optional optical component 124 includes a telescope that magnifies the backscattered light 122. In an example, the at least one optional optical component 124 includes other optical component(s) that focus, magnify, or otherwise condition the backscattered light 122. In an example, the at least one optional optical component 126 includes an optical fiber, an interferometer, an optical instrument, a scientific instrument, or other optical component. In an example, the at least one attenuator 110 is disposed between the optional optical component(s) 124 and the optional optical component(s) 126. In an example, the at least one attenuator 110 is disposed within the optional optical component(s) 126.

[0016] In an example, the at least one attenuator 110 attenuates the backscattered light 122 based on the intensity of the backscattered light 122. In an example, the attenuation level of the backscattered light 122 for different intensities of the backscattered light 122 is used to normalize the intensity of the backscattered light to a range supported by the detector 112 (to avoid saturation due to higher intensities of the backscattered light or too much noise due to lower intensities of the backscattered light). In an example, the at least one attenuator 110 is used to attenuate the backscattered light 122 more when the intensity of the backscattered light 122 is higher. In an example, the at least one attenuator 110 is used to attenuate the backscattered light 122 less (or not attenuate it at all) when the intensity of the backscattered light 122 is lower. In an example, it is desirable to pass more (or all) of the backscattered light 122 to the detector 112 when it has a lower intensity and pass less of the backscattered light 122 to the detector 112 when it has a higher intensity. In an example, multiple attenuators 110 can be used to attenuate the backscattered light 122 at different levels / steps to help normalize a wider range to the range supported by the detector 112 .

[0017] In an example, the at least one detector 112 determines a current intensity of the backscattered light 122 and provides information regarding the current intensity to the at least one processor 114. In an example, the at least one detector 112 converts an optical signal (from the backscattered light 122) into a corresponding electrical signal. In an example, the at least one processor 114 selects which of the at least one attenuator 110 (if any) to use to attenuate the backscattered light 122 based on the current intensity. In an example, the at least one processor 114 adjusts the attenuation of the at least one attenuator 110 based on the current intensity. In some examples, the at least one processor 114 determines, based on the current intensity, that no attenuation is necessary and bypasses the at least one attenuator 110 entirely. In an example, the attenuation of the at least one attenuator 110 is selected to attenuate by a specific amount for a specific signal intensity range corresponding to a specific range of distances to the measurement location 118A (such as an atmospheric region, a particle, an object, the ground, or another surface). In an example, size, weight, power, and / or cost (SWaP-C) can be reduced by using fewer detectors, even with the addition of at least one attenuator 110, if the at least one attenuator being added is smaller, lighter, lower powered, and less expensive than the detector(s) it is replacing. Additionally, using at least one attenuator 110 instead of additional detector(s) may further improve the performance of the LiDAR sensor 102A. In an example, the at least one processor 114 controls timers / clocks that control other components of the LiDAR sensor 102A.

[0018] In an example, the at least one processor 114 receives input from the at least one detector 112 regarding the current intensity of the backscattered light 122, where the current intensity of the backscattered light (and the input regarding it) represents and depends on the distance to the measurement location 118A. In an example, the current intensity of the backscattered light 122 is highly altitude dependent, and there may be clouds at some altitudes that reduce the signal more than they would otherwise. In an example, the at least one processor 114 determines how to use an attenuator / attenuator to attenuate the current intensity of the backscattered light 122 based on the input regarding the current intensity of the backscattered light 122 (which may represent and / or depend on the distance or other relationship to the measurement location 118A).

[0019] In examples, based on the current intensity of the backscattered light 122, attenuation of the backscattered light 122 occurs by a particular amount based on a threshold or range. In examples, when the current intensity of the backscattered light 122 is within a first range, a first amount of attenuation is applied, when the current intensity of the backscattered light 122 is within a second range, no attenuation is applied or a second amount of attenuation is applied, etc. In examples, when the current intensity of the backscattered light 122 is low, no attenuation is applied (or a lower amount of attenuation is applied). In examples, the higher the current intensity of the backscattered light 122, the more attenuation is applied to the backscattered light 122. In examples, there are multiple ranges for attenuation.

[0020] In an example, each of the at least one attenuator 110 is configured to attenuate the signal by a different amount, and depending on the current intensity, one of the at least one attenuator 110 (or none) is selected to attenuate the backscattered light 122 (or not attenuate it at all) before it is received by the at least one detector 112. In an example, the at least one attenuator 110 includes only a single attenuator 110-1, and depending on the current intensity, either the single attenuator 110-1 is selected (to provide attenuation) or no attenuator 110 is selected (for no attenuation). In an example, the at least one attenuator 110 includes two or more attenuators 110, and depending on the current intensity, either one attenuator 110 is selected (to provide a particular level of attenuation) or no attenuator 110 is selected (for no attenuation).

[0021] In an example, the at least one attenuator 110 includes at least one of an optical chopper, a photoelastic modulator and polarizer, a fiber attenuator, and a free space attenuator. In an example, a chopper (implementing at least one attenuator 110) is used to periodically block the light beam, thereby modulating the intensity of the light beam. In an example, the chopper (implementing at least one attenuator 110) may be a variable frequency rotating disk chopper, a fixed frequency tuning fork chopper, or an optical shutter. In an example, the attenuation of the chopper is changed based on the type of chopper wheel used and the speed of the chopper wheel or the size of the air gap in the chopper wheel. In an example, a photoelastic modulator adjusts the polarity of the light, and the light is then passed through a polarizer that only accepts light when the polarity is aligned with the direction of the polarizer. In an example, a photoelastic modulator is used to change the polarization to adjust how much light passes through the polarizer. In an example, the combination of a photoelastic modulator and a polarizer is called a photoelastic modulator chopper.

[0022] In examples, fiber attenuators are used to reflect or change the degree to which light is coupled from one optical fiber to another. In examples, fiber attenuators may offset two optical fibers so that less light is coupled from one optical fiber to the other. In examples, fiber attenuators may be adjusted in real time to switch between different levels of attenuation. In examples, different fiber attenuators are used to provide different levels of attenuation. In some examples, free space attenuators are large scale (with larger sized optical elements) that are not sized for optical fibers (at the micrometer level), so that lenses may be used as an interface from the optical fiber to the attenuator.

[0023] In an example, the LiDAR sensor 102A includes optional power source(s) 128 that provide power to various components of the LiDAR sensor 102A.

[0024] 1B is a block diagram of a system 100B having an air light detection and ranging (LiDAR) sensor 102B having components similar to those of the LiDAR sensor 102A described with reference to FIG. 1A and the system 100A. The air LiDAR sensor 102B is a specific implementation of the LiDAR sensor 102A that is specifically used to measure atmospheric properties (such as temperature, density, wind, humidity, aerosol measurements, and turbulence) of the air region 118B (which is a specific implementation of the measurement location 118A). In an example, the air LiDAR sensor 102B measures the atmospheric properties of the air region 118B by emitting at least one laser into the air, where some amount of light interacts with particles and molecules in the air and is backscattered toward the air LiDAR sensor 102B, where it is collected and analyzed to determine the atmospheric properties such as temperature, density, wind, humidity, aerosol measurements, and turbulence. In an example, the atmospheric LiDAR sensor 102B is oriented to measure at a given location within the atmospheric region, and the range of the atmospheric LiDAR sensor 102B is resolved to measure simultaneously at multiple altitudes of interest (such as all altitudes). In an example, the atmospheric LiDAR sensor 102B is mounted or integrated within an aircraft or other vehicle to measure altitude or other characteristics.

[0025] 1C is a block diagram of a system 100C having a hard target light detection and ranging (LiDAR) sensor 102C having components similar to those of the LiDAR sensor 102A described with reference to FIG. 1A and system 100A. The hard target LiDAR sensor 102C is a particular implementation of the LiDAR sensor 102A that is specifically used to measure a distance to a surface 118C (such as the ground or other object or surface). In an example, the hard target LiDAR sensor 102C is used to measure the altitude of the hard target LiDAR sensor 102C from the surface 118C. In an example, the hard target LiDAR sensor 102C is mounted or integrated within an aircraft or other vehicle to measure distance, altitude, or other characteristics.

[0026] 2 is an exemplary method 200 for operating a light detection and ranging (LiDAR) sensor (such as LiDAR sensor 102A, atmospheric LiDAR sensor 102B, or hard target LiDAR sensor 102C). In an example, method 200 begins at optional block 202 with emitting light from a laser source toward at least one measurement location (such as measurement location 118A). In an example, method 200 proceeds to block 204 with receiving backscattered light backscattered from the at least one measurement location at a detector. In an example, the measurement location includes at least one atmospheric region, and the backscattered light is backscattered from the at least one atmospheric region. In an example, the measurement location includes at least one surface, and the backscattered light is reflected from the at least one surface.

[0027] In an example, the method 200 proceeds to block 206 to determine a current intensity of the backscattered light at the detector. In an example, the current intensity is related to at least one distance to the at least one measurement location. In an example, the at least one distance to the at least one measurement location includes a measurement of an atmospheric property of the atmospheric region (such as temperature, density, wind, humidity, aerosol measurements, and turbulence), or a distance to an object or another surface, or an altitude from the ground. In an example, the specific attenuator includes at least one of a chopper, a photoelastic modulator and polarizer, a fiber attenuator, and a free space attenuator.

[0028] In an example, method 200 proceeds to block 208 and selects, using at least one processor, at least one of an attenuator or attenuation level based on the current intensity of the backscattered light. In an example, method 200 proceeds to optional block 210, which selectively attenuates the backscattered light based on at least one of (1) characteristics of a particular attenuator, or (2) the attenuation level to use as selected for the current intensity of the backscattered light.

[0029] In an example, (1) block 208 includes using at least one processor to select a particular attenuator selected for a current intensity of the backscattered light, and (2) block 210 includes selectively attenuating the backscattered light based on characteristics of the particular attenuator selected for a current intensity of the backscattered light. In an example, (1) block 208 includes using at least one processor to select an attenuation level to use as selected for a current intensity of the backscattered light, and (2) selectively attenuating the backscattered light based on the attenuation level to use as selected for a current intensity of the backscattered light.

[0030] In an example, method 200 further includes (1) bypassing the attenuation of the backscattered light when the current intensity of the backscattered light is less than a first threshold, and (2) attenuating the backscattered light by a first level when the current intensity of the backscattered light meets the first threshold. In an example, method 200 further includes (1) attenuating the backscattered light by a first level when the current intensity of the backscattered light is less than the first threshold, and (2) attenuating the backscattered light by a second level when the current intensity of the backscattered light meets the first threshold.

[0031] The methods and techniques described herein may be implemented in digital electronic circuitry, or with a programmable processor (e.g., a special purpose processor or a general purpose processor such as a computer), firmware, software, or various combinations of each. Apparatus embodying these techniques may include suitable input and output devices, a programmable processor, and a storage medium tangibly embodying program instructions for execution by the programmable processor. Processes embodying these techniques may be performed by a programmable processor executing a program of instructions to perform a desired function by operating on input data and generating appropriate output. The techniques may be advantageously implemented in one or more programs executable on a programmable system including at least one programmable processor coupled to receive data and instructions from and transmit data and instructions to a data storage system, at least one input device, and at least one output device. In general, the processor receives instructions and data from a read-only memory and / or a random access memory. Storage devices suitable for tangibly embodying computer program instructions and data include all forms of non-volatile memory and storage media, including, by way of example, random access memory, memory storage devices, optical memory devices, magnetic media, floppy disks, magnetic tape, hard drives, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), optical media (compact discs, DVDs, Blu-ray discs, etc.), magneto-optical disks, etc. Any of the foregoing may be supplemented by, or incorporated in, any known processor, such as a general purpose processor (GPP) or special purpose processor (such as a field programmable gate array (FPGA), application specific integrated circuit (ASIC), or other integrated circuit or circuit), or any programmable logic device.

[0032] Although a detailed description of one or more embodiments of the present disclosure has been given above, various alternatives, modifications, and equivalents will be apparent to those skilled in the art without departing from the spirit of the present disclosure. For example, the embodiments described above refer to certain features, but the scope of the present invention also includes embodiments having different combinations of features and embodiments that do not include all of the features described above. Therefore, the scope of the present disclosure is intended to encompass all such alternatives, modifications, and variations, together with all equivalents thereof, as fall within the scope of the claims. Therefore, the above description should not be interpreted as limiting. EXAMPLES

[0033] Example 1 includes a light detection and ranging (LiDAR) sensor comprising: at least one detector configured to receive backscattered light backscattered from at least one measurement location and determine a current intensity of the backscattered light; at least one attenuator disposed between the at least one measurement location and the at least one detector; and at least one processor configured to select at least one of (1) a particular attenuator or (2) an attenuation level to use based on the current intensity of the backscattered light, wherein the particular attenuator is configured to selectively attenuate the backscattered light based on at least one of (1) characteristics of the particular attenuator or (2) the attenuation level to use selected by the at least one processor for the current intensity of the backscattered light.

[0034] Example 2 includes the LiDAR sensor of example 1, further including: the at least one processor configured to select a particular attenuator for a current intensity of the backscattered light, the at least one attenuator configured to selectively attenuate the backscattered light based on characteristics of the particular attenuator selected by the at least one processor for the current intensity of the backscattered light.

[0035] Example 3 includes the LiDAR sensor of any of Examples 1-2, and further includes: the at least one processor is configured to select an attenuation level to use based on a current intensity of the backscattered light; and the at least one attenuator is configured to selectively attenuate the backscattered light based on the attenuation level to use selected by the at least one processor for the current intensity of the backscattered light.

[0036] Example 4 includes the LiDAR sensor of any of Examples 1 to 3, wherein the LiDAR sensor is configured to bypass attenuation of the backscattered light when a current intensity of the backscattered light is less than a first threshold, and to attenuate the backscattered light by a first level when the current intensity of the backscattered light meets the first threshold.

[0037] Example 5 includes the LiDAR sensor of any of Examples 1 to 4, wherein the LiDAR sensor is configured to attenuate the backscattered light by a first level when a current intensity of the backscattered light is less than a first threshold, and to attenuate the backscattered light by a second level when the current intensity of the backscattered light meets the first threshold.

[0038] Example 6 includes the LiDAR sensor of any of Examples 1-5, further comprising at least one laser source configured to emit light toward the at least one measurement location.

[0039] Example 7 includes the LiDAR sensor of any of Examples 1 to 6, wherein the at least one attenuator includes at least one of a chopper, a photoelastic modulator and polarizer, a fiber attenuator, and a free space attenuator.

[0040] Example 8 includes the LiDAR sensor of any of Examples 1-7, wherein the at least one measurement location includes at least one atmospheric region, and the backscattered light is backscattered from the at least one atmospheric region.

[0041] Example 9 includes the LiDAR sensor of any of Examples 1-8, wherein the at least one measurement location includes at least one surface, and the backscattered light is reflected from the at least one surface.

[0042] Example 10 includes a method of operating a light detection and ranging (LiDAR) sensor, the method including receiving, at a detector, backscattered light backscattered from at least one measurement location; determining, at the detector, a current intensity of the backscattered light; and using at least one processor, selecting, based on the current intensity of the backscattered light, at least one of (1) a particular attenuator or (2) an attenuation level to use; and selectively attenuating the backscattered light based on at least one of (1) characteristics of the particular attenuator or (2) the attenuation level to use selected for the current intensity of the backscattered light.

[0043] Example 11 includes the method of example 10, further comprising using the at least one processor to select a particular attenuator selected for a current intensity of the backscattered light, and selectively attenuate the backscattered light based on a characteristic of the particular attenuator selected for the current intensity of the backscattered light.

[0044] Example 12 includes the method of any of Examples 10-11, further comprising using at least one processor to select an attenuation level to be used as the selected for the current intensity of the backscattered light, and selectively attenuating the backscattered light based on the attenuation level to be used as the selected for the current intensity of the backscattered light.

[0045] Example 13 includes the method of any of Examples 10-12, further including bypassing the attenuation of the backscattered light when the current intensity of the backscattered light is less than a first threshold, and attenuating the backscattered light by a first level when the current intensity of the backscattered light meets the first threshold.

[0046] Example 14 includes the method of any of Examples 10-13, further including attenuating the backscattered light by a first level when the current intensity of the backscattered light is less than a first threshold, and attenuating the backscattered light by a second level when the current intensity of the backscattered light meets the first threshold.

[0047] Example 15 includes the method of any of examples 10-14, further including emitting light from the laser source toward the at least one measurement location.

[0048] Example 16 includes the method of any of examples 10-15, wherein the at least one measurement location includes at least one atmospheric region, and the backscattered light is backscattered from the at least one atmospheric region.

[0049] Example 17 includes the method of any of examples 10-16, wherein the at least one measurement location includes at least one surface, and the backscattered light is reflected from the at least one surface.

[0050] Example 18 includes a system comprising: a light detection and ranging (LiDAR) sensor configured to receive backscattered light having a current intensity from at least one atmospheric region; at least one attenuator configured to attenuate the current intensity of the backscattered light; and circuitry configured to determine the current intensity of the backscattered light and cause the at least one attenuator to attenuate the backscattered light based on the current intensity.

[0051] Example 19 includes the system of example 18, wherein the circuit is configured to bypass attenuation of the backscattered light when the current intensity is less than a first threshold and to cause the at least one attenuator to attenuate the backscattered light by a first level when the current intensity meets the first threshold.

[0052] Example 20 includes the system of any of examples 18-19, wherein the circuitry is configured to cause the at least one attenuator to attenuate the backscattered light by a first level when the current intensity is below a first threshold, and to cause the at least one attenuator to attenuate the backscattered light by a second level when the current intensity meets the first threshold.

Claims

1. 1. A light detection and ranging (LiDAR) sensor, comprising: At least one detector, receiving backscattered light backscattered from at least one measurement location; at least one detector configured to determine a current intensity of the backscattered light; at least one attenuator disposed between the at least one measurement location and the at least one detector; At least one processor, at least one processor configured to select at least one of: (1) a particular attenuator or (2) an attenuation level to use based on the current intensity of the backscattered light; The particular attenuator is A LiDAR sensor configured to selectively attenuate the backscattered light based on at least one of: (1) characteristics of the particular attenuator, or (2) the attenuation level to be used as selected by the at least one processor for the current intensity of the backscattered light.

2. the at least one processor is configured to select the particular attenuator for the current intensity of the backscattered light; 2. The LiDAR sensor of claim 1, further comprising: the at least one attenuator configured to selectively attenuate the backscattered light based on the characteristics of the particular attenuator selected by the at least one processor for the current intensity of the backscattered light.

3. the at least one processor is configured to select the attenuation level to use based on the current intensity of the backscattered light; 2. The LiDAR sensor of claim 1, further comprising: the at least one attenuator configured to selectively attenuate the backscattered light based on the attenuation level used as selected by the at least one processor for the current intensity of the backscattered light.

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