Lidar system including transmitting optics for pre-collimation steering

Abstract

We provide LIDAR systems that enhance the ability of various devices and platforms to perceive their environment and perform functions in response to it. [Solution] The LIDAR system includes a plurality of emitters, each configured to emit an optical signal along a transmission path. The LIDAR system includes a plurality of optical systems arranged along the transmission path. The plurality of optical systems includes a collimator optical system having a primary optical output along a first axis. The plurality of optical systems further include one or more transmitting optical systems located along the transmission path between the plurality of emitters and the collimator optical system. In addition, one or more transmitting optical systems have a primary optical output along a second axis.

Description

Technical Field

[0001] Related Application This application claims priority based on U.S. Patent Application No. 17 / 395,227, filed on August 5, 2021, which claims priority to U.S. Provisional Application No. 63 / 062,657, filed on August 7, 2020 and entitled "Lidar System Including Transmitting Optics for Pre-collimation Steering", and Application No. 17 / 395,227 and 63 / 062,657 are incorporated herein by reference.

Background Art

[0002] LIDAR systems use lasers to generate three-dimensional representations of the surrounding environment. A LIDAR system includes at least one emitter paired with a receiver to form a channel, and an array of channels can be used to expand the field of view of the LIDAR system. During operation, each channel emits a laser beam into the environment. The laser beam is reflected by an object in the surrounding environment, and the reflected laser beam is detected by a receiver. A single channel provides a single point of distance information. Collectively, the channels combine to generate a point cloud that corresponds to a three-dimensional representation of the surrounding environment. LIDAR systems also include circuitry that measures ToF (Time-of-Flight, the elapsed time from emission of a laser beam to detection of the reflected laser beam). ToF measurements are used to determine the distance from the LIDAR system to the object.

Summary of the Invention

Means for Solving the Problems

[0003] Aspects and advantages of embodiments of the present disclosure will be set forth in part in the following description, or may be learned from the description, or may be learned through implementation of the embodiments.

[0004] Exceptional aspects of this disclosure relate to LIDAR systems (e.g., short-range LIDAR systems). As further described herein, LIDAR systems can be used to enhance the ability of various devices and platforms (e.g., robotic platforms) to perceive their environment and perform functions in response to it (e.g., autonomously explore their environment).

[0005] For example, the LiDAR system of this disclosure may include a plurality of emitters (e.g., laser diodes) each configured to emit an optical signal (e.g., a laser) along a transmission path. The LiDAR system may include a collimator optical system (which exists) arranged along the transmission path. The LiDAR system may further include one or more transmitting optical systems (which exist) arranged along the transmission path. More specifically, one or more transmitting optical systems may be arranged along the transmission path between the collimator optical system and the plurality of emitters.

[0006] The collimator optics and one or more transmitting optics have primary optical power along different axes. For example, the collimator optics have primary optical power along a first axis (e.g., a high-speed axis). Conversely, one or more transmitting optics have primary optical power along a second axis (e.g., a low-speed axis). The second axis may be perpendicular or substantially perpendicular to the first axis (e.g., a difference of less than 15 degrees, less than 10 degrees, less than 5 degrees, less than 1 degree, etc.).

[0007] The primary optical output in the first axis direction of a collimator optical system refers to the degree to which the collimator optical system focuses or diverges the optical signal in the first axis direction (along the first axis direction). Similarly, the primary optical output in the second axis direction of one or more transmitting optical systems refers to the degree to which one or more transmitting optical systems focus or diverge the optical signal along the second axis.

[0008] An optical signal can be directed along one or more transmitting optical systems to focus the optical signal into a collimator optical system. In this manner, the collimation of the optical signal along the first axis can be improved. One or more transmitting optical systems may include one or more toroidal-shaped optical systems to facilitate the direction of the optical signal. One or more toroidal-shaped optical systems may also have a null radius of curvature and uniform thickness to reduce or eliminate distortion of the optical signal.

[0009] A LIDAR system may include multiple photodetectors. These photodetectors may be positioned along the curved surface of a circuit board. Furthermore, the photodetectors may be configured to detect reflected light signals traveling along a receiving path separate from the transmission path.

[0010] A LIDAR system may include one or more receiving optical systems positioned along the receiving path. These receiving optical systems may be configured to focus each of multiple reflected light signals onto a corresponding photodetector. For example, one or more receiving optical systems may include one or more aspherical lenses configured to focus multiple reflected light signals onto multiple photodetectors.

[0011] A LIDAR system may further include multiple condenser optics arranged along the receiving path. One or more of these condenser optics may be positioned between one or more receiving optics and a corresponding photodetector among multiple photodetectors. Furthermore, one or more condenser optics can focus multiple reflected light signals onto the corresponding photodetectors. In this manner, the field of view of the photodetectors can be broadened, at least partially, by the condenser optics. Also, because multiple reflected light signals are directed towards their respective photodetectors, the LIDAR system can provide a continuous or nearly continuous detection line.

[0012] Lidar systems according to exemplary embodiments of this disclosure can offer numerous technical effects and advantages. For example, one or more transmitting optical systems can focus the optical signal onto the collimator optical system for collimation along the first axis by facilitating pre-collimation steering of the optical signal along the second axis (e.g., the slow axis). Furthermore, multiple focusing optical systems positioned between corresponding photodetectors among one or more receiving optical systems and multiple photodetectors can broaden the field of view of multiple photodetectors arranged on the curved surface of the circuit board.

[0013] In an exemplary embodiment of the present disclosure, a LIDAR system is provided. The LIDAR system includes a plurality of emitters, each configured to emit an optical signal along a transmission path. The LIDAR system includes a plurality of first optical systems. The plurality of first optical systems are located along a transmission path. The plurality of first optical systems include a collimator optical system having a primary optical output along a first axis. The plurality of first optical systems further include one or more transmitting optical systems located between the collimator optical system and the plurality of emitters.

[0014] In some embodiments, one or more transmitting optical systems have a primary optical output along a second axis perpendicular or substantially perpendicular to a first axis.

[0015] In some embodiments, the primary optical output of the collimator optical system along the first axis indicates the degree to which the collimator optical system converges or diverges the optical signal along the first axis. Furthermore, the primary optical output of one or more transmitting optical systems along the second axis indicates the degree to which one or more transmitting optical systems converge or diverge the optical signal along the second axis.

[0016] In some embodiments, the primary optical output of a collimator optical system includes the maximum optical output of the collimator optical system. For example, the primary optical output of a collimator optical system along a first axis may be several times greater than the optical output of a collimator optical system along any other axis (e.g., a second axis). Also, the primary optical output of one or more transmitting optical systems includes the maximum optical output of one or more transmitting optical systems. For example, the maximum optical output of one or more transmitting optical systems along a second axis may be several times greater than the optical output of one or more transmitting optical systems along any other axis (e.g., a first axis).

[0017] In some embodiments, one or more transmitting optical systems include one or more toroidal optical systems. One or more toroidal optical systems define the circumferential direction and the radial direction. In some embodiments, the radius of curvature of one or more toroidal optical systems has a constant thickness along the circumferential direction.

[0018] In some embodiments, the collimator optical system has a first focal length, and one or more transmitting optical systems have a second focal length longer than the first focal length. In some embodiments, the first focal length corresponds to the width of the first emitter among a plurality of emitters, and the second focal length corresponds to the length of the first emitter, which is longer than the width of the first emitter. In some embodiments, the ratio of the second focal length to the first focal length is in the range of about 16:1 to about 24:1.

[0019] In some embodiments, one or more of the emitters include a laser diode. In such embodiments, the optical signal emitted from one or more emitters including the laser diode is a laser signal.

[0020] In some embodiments, the LIDAR system includes a plurality of photodetectors, one or more of which are arranged along a curved surface of a circuit board. In some embodiments, the curved surface includes a Petzval surface. The LIDAR system further includes a plurality of second optical systems arranged along the receiving path, so that a plurality of reflected light signals traveling along the receiving path pass through the plurality of second optical systems.

[0021] In some embodiments, the plurality of second optical systems include one or more receiving optical systems and a plurality of focusing optical systems. The one or more focusing optical systems are located along the receiving path between the one or more receiving optical systems and the corresponding photodetectors among the plurality of photodetectors.

[0022] In some embodiments, the LIDAR system includes a housing that includes a partition dividing the interior of the housing into a first space and a second space. Multiple emitters and multiple first optical systems are arranged in the first space. Multiple photodetectors and multiple second optical systems are arranged in the second space. In some embodiments, the LIDAR system includes one or more mirrors arranged in the housing and positioned along the transmission path so that one or more mirrors are positioned between one or more transmitting optical systems and multiple emitters. One or more mirrors are also rotatable about a first or second axis. In some embodiments, one or more mirrors include polygonal mirrors.

[0023] In some embodiments, one or more mirrors include mirrors that can rotate about a first axis at rotational speeds ranging from about 15,000 revolutions per minute to about 20,000 revolutions per minute. In some embodiments, the mirrors include single-sided mirrors.

[0024] In another exemplary aspect of the present disclosure, an autonomous vehicle is provided. The autonomous vehicle comprises a LIDAR system. The LIDAR system includes a plurality of emitters each configured to emit an optical signal along a transmission path. The LIDAR system further comprises a plurality of first optical systems arranged along the transmission path. The plurality of first optical systems include collimator optics having a primary optical output along a first axis. The plurality of first optical systems further include one or more transmission optics positioned between the collimator optics and the plurality of emitters.

[0025] Yet another aspect of the present disclosure relates to an autonomous vehicle control system. The autonomous vehicle control system comprises a LIDAR system. The LIDAR system includes a plurality of emitters each configured to emit an optical signal along a transmission path. The LIDAR system further comprises a plurality of first optical systems arranged along the transmission path. The plurality of first optical systems include collimator optics having a primary optical output along a first axis. The plurality of first optical systems further include one or more transmission optics positioned between the collimator optics and the plurality of emitters.

[0026] Other exemplary aspects of the present disclosure relate to other systems, methods, vehicles, apparatuses, tangible non-transitory computer-readable media, devices for motion prediction, and / or operation of devices that include a LIDAR system having one or more transmission optics for pre-collimation steering.

[0027] These and other features, aspects, and advantages of various embodiments will be better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of the present specification, illustrate embodiments of the present disclosure and serve, along with the detailed description, to explain the relevant principles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] A detailed description of the embodiments directed to those skilled in the art is set forth in the present specification with reference to the accompanying drawings.

[0029] [Figure 1]A block diagram of an exemplary system for controlling the computing functions of an autonomous vehicle according to some embodiments of this disclosure is shown.

[0030] [Figure 2] A block diagram of the components of a LIDAR system according to some embodiments of this disclosure is shown.

[0031] [Figure 3] This shows the divergence angle between the optical signal emitted from the emitter of a LIDAR system according to some embodiments of this disclosure and the high-speed axis.

[0032] [Figure 4] This shows the divergence angle between the optical signal emitted from the emitter of a LIDAR system according to some embodiments of this disclosure and the low-speed axis.

[0033] [Figure 5] This disclosure shows the optical output of the collimator optical system of a high-speed axis-aligned LIDAR system according to some embodiments of this disclosure.

[0034] [Figure 6] This disclosure shows the optical output of the transmitting optical system of a LIDAR system aligned with a low-speed axis according to some embodiments of this disclosure.

[0035] [Figure 7] A plan view of a toroidal optical system of a LIDAR system according to some embodiments of this disclosure is shown.

[0036] [Figure 8] This disclosure shows a receiving optical system for a LiDAR system according to some embodiments of this disclosure.

[0037] [Figure 9] This disclosure shows a focusing optical system for a LiDAR system according to some embodiments.

[0038] [Figure 10]This disclosure shows a LIDAR system according to some embodiments.

[0039] [Figure 11] A cross-sectional view of a housing for a LiDAR system according to some embodiments of this disclosure is shown.

[0040] [Figure 12] An enlarged portion of Figure 11 according to some embodiments of this disclosure is shown.

[0041] [Figure 13] Figure 10 shows a mirror of a LiDAR system that reflects an optical signal according to some embodiments of this disclosure.

[0042] [Figure 14] A plan view of a LIDAR system according to some embodiments of this disclosure is shown.

[0043] [Figure 15] Figure 14 shows a side view of the LIDAR system according to some embodiments of this disclosure.

[0044] [Figure 16] This disclosure illustrates an exemplary computing system according to some embodiments.

[0045] [Figure 17] A block diagram of the components of a LIDAR system according to some embodiments of this disclosure is shown.

[0046] [Figure 18] A flowchart illustrating a method for controlling the operation of an autonomous vehicle according to sensor data acquired from a LIDAR system, as described in some embodiments of this disclosure. [Modes for carrying out the invention]

[0047] The technologies of this disclosure are described below in the context of autonomous vehicles for illustrative purposes only. As described herein, the technologies described herein are not limited to autonomous vehicles but can be embodied in a variety of devices as well as in other robots and computing systems. For example, the systems and methods disclosed herein can be embodied in a variety of ways, such as computer-implemented methods, autonomous vehicle systems, autonomous vehicle control systems, robot platform systems, general robot device control systems, and computing devices.

[0048] As used herein, the terms “approximately” or “substantially” refer to a range of values ​​within 25% of the stated figures, along with the stated figures themselves.

[0049] Referring to the drawings, Figure 1 shows a system 100 that includes a communication network 102, a work computing system 104, one or more remote computing devices 106, a vehicle 108, a vehicle computing system 112, one or more sensors 114, sensor data 116, a positioning system 118, an autonomous computing system 120, map data 122, a perception system 124, a prediction system 126, a motion planning system 128, perception data 130, prediction data 132, motion planning data 134, a communication system 136, a vehicle control system 138, and a human-machine interface 140.

[0050] The operational computing system 104 can be associated with a service provider that can provide one or more vehicle services to multiple users via a fleet of vehicles including vehicle 108. Vehicle services may include transportation services (e.g., ride-sharing services), delivery services, shipping services, and / or other types of services.

[0051] The operational computing system 104 may include numerous components for performing various tasks and functions. For example, the operational computing system 104 may be configured to monitor and communicate with vehicle 108 and / or its users in order to coordinate vehicle services provided by vehicle 108. To this end, the operational computing system 104 may communicate with one or more remote computing devices 106 and / or vehicle 108 via one or more communication networks, including communication network 102. The communication network 102 may transmit and / or receive signals (e.g., electronic signals) or data (e.g., data from computing devices) and may include various wired (e.g., twisted-pair cables) and / or wireless communication mechanisms (e.g., cellular, radio, satellite, microwave and radio frequency) and / or any combination of any desired network topology (or multiple topologies). For example, the communication network 102 may include a local area network (e.g., an intranet), a wide area network (e.g., the Internet), a wireless LAN network (e.g., via Wi-Fi), a cellular network, a SATCOM network, a VHF network, an HF network, a WiMAX-based network, and / or any other suitable communication network (or a combination thereof) for transmitting data to and from the vehicle 108.

[0052] Each of the one or more remote computing devices 106 may include one or more processors and one or more memory devices. The one or more memory devices, when executed by one or more processors of the one or more remote computing devices 106, can be used to store instructions causing one or more processors to perform tasks and / or functions related to the vehicle 108, including sending and receiving data or signals to and from the vehicle 108, monitoring the status of the vehicle 108, and / or controlling the vehicle 108. The one or more remote computing devices 106 can communicate (e.g., exchange data and / or signals) with one or more devices, including the work computing system 104 and the vehicle 108, via the communication network 102. For example, the one or more remote computing devices 106 can request the location of the vehicle 108 or the status of one or more objects detected by one or more sensors 114 of the vehicle 108 via the communication network 102.

[0053] One or more remote computing devices 106 may include one or more computing devices (e.g., desktop computing devices, laptop computing devices, smartphones, and / or tablet computing devices) that can receive input or commands from a user or exchange signals or data with items or other computing devices or computing systems (e.g., work computing system 104). Additionally, one or more remote computing devices 106 can be used to determine and / or modify one or more states of the vehicle 108, including its position (e.g., latitude and longitude), speed, acceleration, trajectory, direction of travel, and / or path, at least in part, based on signals or data exchanged with the vehicle 108. In some embodiments, the work computing system 104 may include one or more remote computing devices 106.

[0054] Vehicle 108 may be a ground-based mobile (e.g., car, motorcycle, train, tram, bus, truck, rail vehicle, light electric vehicle, moped, scooter and / or electric bicycle), an air-based mobile (e.g., aircraft, etc.), a water-based mobile (e.g., boat, submarine, amphibious vehicle, etc.), a robotic device (e.g., bipedal, wheeled or quadrupedal robotic device), and / or other types of vehicles. Vehicle 108 may be an autonomous vehicle capable of performing a variety of actions, including driving, exploring and / or maneuvering, with minimal and / or interaction from a human driver.

[0055] Vehicle 108 may be configured to operate in one or more modes, including, for example, a fully autonomous operating mode, a semi-autonomous operating mode, a manual operating mode, a parking mode, and / or a sleep mode. A fully autonomous (e.g., autonomous driving) operating mode may be a mode in which vehicle 108 can provide driving and exploration operations with minimal and / or no interaction from a human driver present in the vehicle. A semi-autonomous operating mode may be a mode in which vehicle 108 can operate with some interaction from a human driver present in the vehicle. A manual operating mode may be a mode in which a human driver present in the autonomous vehicle manually controls vehicle 108 (e.g., acceleration, braking, steering) via one or more vehicle control devices (e.g., steering devices) of vehicle 108. A parking mode and / or sleep mode may be used between operating modes while vehicle 108 performs various operations, including waiting to provide following vehicle service or recharging between operating modes.

[0056] Display, recording, and / or other data indicating the state of vehicle 108, the state of one or more passengers in vehicle 108, and / or the state of the external environment of vehicle 108 including one or more objects (e.g., the physical dimensions, speed, acceleration, direction of movement, position, and / or appearance of one or more objects) can be locally stored in one or more memory devices of vehicle 108. As mentioned above, vehicle 108 may provide data indicating the state of one or more objects within a predefined distance of vehicle 108 (e.g., the physical dimensions, speed, acceleration, direction of movement, position, and / or shape of one or more objects) to the work computing system 104 and / or remote computing device 106, and the work computing system 104 and / or remote computing device 106 may store display, recording, and / or other data indicating the state of one or more objects within a predefined distance of vehicle 108 in one or more memory devices associated with the work computing system 104 and / or remote computing device 106 (e.g., remote from the vehicle).

[0057] Vehicle 108 may include and / or be associated with a vehicle computing system 112. The vehicle computing system 112 may represent, or include, an autonomous vehicle control system. The vehicle computing system 112 may include one or more computing devices mounted on the vehicle 108. For example, one or more computing devices of the vehicle computing system 112 may be located on and / or inside the vehicle 108. One or more computing devices of the vehicle computing system 112 may include various components for performing various operations and functions. For example, one or more computing devices of the vehicle computing system 112 may include one or more processors and one or more tangible, non-temporary, computer-readable media (e.g., memory devices). One or more tangible, non-temporary, computer-readable media can store instructions, when executed by one or more processors, causing the vehicle 108 (e.g., the vehicle 108's computing system, one or more processors, and other devices) to perform tasks and / or functions, including those described herein, to acquire, process, and / or utilize sensor data collected via the described LIDAR technology, perceive the surrounding environment, predict future environmental conditions, and plan / control the movement of the vehicle 108.

[0058] As shown in Figure 1, the vehicle computing system 112 may include one or more sensors 114, a positioning system 118, an autonomous computing system 120, a communication system 136, a vehicle control system 138, and a human-machine interface 140. One or more of these systems may be configured to communicate with each other via a communication channel. The communication channel may include one or more data buses (e.g., CAN (Controller Area Network)), an onboard diagnostic connector (e.g., OBD-II), and / or a combination of wired and / or wireless links. The onboard systems can exchange (e.g., transmit and / or receive) data, messages, and / or signals with each other via the communication channel.

[0059] One or more sensors 114 may be configured to generate and / or store data including sensor data 116 related to one or more objects in close proximity to the vehicle 108 (e.g., within one or more ranges or fields of view of one or more sensors 114). One or more sensors 114 may include one or more LIDAR (Light Detection and Ranging) systems, one or more RADAR (Radio Detection and Ranging) systems, one or more cameras (e.g., visible spectrum cameras and / or infrared cameras), one or more sonar systems, one or more motion sensors and / or other types of image capture devices and / or sensors. Sensor data 116 may include image data, radar data, LIDAR data, sonar data and / or other data acquired by one or more sensors 114. One or more objects may include, for example, pedestrians, vehicles, bicycles, buildings, roads, leaves, utility structures, signs, bodies of water and / or other objects. One or more objects may be located on or around various parts of the vehicle 108, including the front, rear, left, right, top, or bottom of the vehicle 108 (e.g., the area surrounding the vehicle 108). The sensor data 116 may display the location of one or more objects in the surrounding environment of the vehicle 108 one or more times. For example, the sensor data 116 may display one or more LIDAR point clouds associated with one or more objects in the surrounding environment. One or more sensors 114 may provide the sensor data 116 to the autonomous computing system 120.

[0060] In addition to sensor data 116, the autonomous computing system 120 may extract or acquire data including map data 122. Map data 122 may provide detailed information about the environment surrounding the vehicle 108. For example, map data 122 may provide information about the identification and / or location of different roads, sections of roads, buildings or other items or objects (e.g., lampposts, crosswalks and / or curbs), the location and direction of lanes (e.g., parking lanes, turning lanes, bicycle lanes or other lanes on a particular road or other travel path and / or the location and direction of one or more boundary markers associated therewith), traffic control data (e.g., the location and indication of signs, traffic lights or other traffic control devices), and / or any other map data that provides information that helps the vehicle computing system 112 process, analyze and recognize the surrounding environment and its relationships.

[0061] The positioning system 118 can determine the current position of the vehicle 108. The positioning system 118 may be any device or circuit for analyzing the position of the vehicle 108. For example, the positioning system 118 may determine its position using triangulation and / or proximity and / or other suitable techniques for one or more inertial sensors, satellite positioning systems, IP / MAC-based systems, network access points, or other network components (e.g., cellular towers and / or Wi-Fi access points). The position of the vehicle 108 may be used by various systems of the vehicle computing system 112 and / or provided to one or more remote computing devices (e.g., work computing system 104 and / or remote computing device 106). For example, map data 122 may provide the vehicle 108 with its relative position in the surrounding environment. The vehicle 108 can identify its position in the surrounding environment (e.g., across six axes) at least in part on the data described herein. For example, vehicle 108 processes sensor data 116 (e.g., LIDAR data, camera data), matches it with a map of the surrounding environment, and obtains the vehicle's position within that environment (e.g., replacing the vehicle's position within the surrounding environment).

[0062] The autonomous computing system 120 may include a perception system 124, a prediction system 126, a motion planning system 128, and / or other systems that perceive the surrounding environment of the vehicle 108 and cooperate to determine a motion plan to control the movement of the vehicle 108 accordingly. One or more of these systems may be combined into a single system that performs a function, or they may share computing resources. For example, the autonomous computing system 120 may receive sensor data 116 from one or more sensors 114 and attempt to determine the state of the surrounding environment by performing various processing techniques on the sensor data 116 (and / or other data), and may generate an appropriate motion plan for traversing the surrounding environment, for example, including a motion plan for traversing the vehicle 108 around the current and / or predicted positions of one or more objects detected by one or more sensors 114. The autonomous computing system 120 can control one or more vehicle control systems 138 to operate the vehicle 108 according to the motion plan.

[0063] The autonomous computing system 120 can identify one or more objects approaching the vehicle 108 based at least in part on sensor data 116 and / or map data 122. For example, the perception system 124 may acquire perception data 130 describing the current and / or past state of objects approaching the vehicle 108. The perception data 130 for each object may describe, for example, the object's position and / or orientation, speed, velocity, acceleration, direction of movement, orientation, size / footprint (e.g., represented by boundary shape), classification (e.g., pedestrian classification vs. vehicle classification vs. bicycle classification) and / or other state information, current and / or past estimates. The perception system 124 may provide the perception data 130 to the prediction system 126 (e.g., to predict the movement of objects).

[0064] The prediction system 126 may generate prediction data 132 related to one or more objects adjacent to the vehicle 108. The prediction data 132 may represent one or more predicted future positions for each object. The prediction data 132 may represent the predicted path (e.g., predicted trajectory) of at least one object in the environment surrounding the vehicle 108. For example, the predicted path (e.g., trajectory) may represent the path that each object is predicted to move along over time (and / or the speed at which the object is predicted to move along the predicted path). The prediction system 126 may provide the prediction data 132 related to one or more objects to the motion planning system 128.

[0065] In some embodiments, the prediction system 126 may use one or more machine learning models. For example, the prediction system 126 may determine prediction data 132 that includes predicted trajectories (e.g., predicted paths, one or more predicted future locations, etc.) that each object is predicted to move over time based on one or more machine learning models. As an example, the prediction system 126 may generate such predictions by including, employing, and / or otherwise utilizing a machine learning prediction model. For example, the prediction system 126 may receive perceptual data 130 (e.g., from a perception system 124) related to one or more objects in the environment surrounding the vehicle 108. The prediction system 126 determines the trajectories of one or more objects based on the perceptual data 130 related to each object by inputting the perceptual data 130 (e.g., BEV images, LIDAR data, etc.) into a machine learning prediction model. For example, the machine learning prediction model may be pre-trained to output future trajectories (e.g., future paths, one or more future geographic locations, etc.) of objects in the environment surrounding the vehicle 108. In this manner, the prediction system 126 can determine the future trajectories of objects in the surrounding environment of the vehicle 108, at least partially based on a machine learning-based predictor generator model.

[0066] The motion planning system 128 may determine a motion plan for the vehicle 108 based at least in part on the prediction data 132 (and / or other data) and generate motion planning data 134. The motion planning data 134 may include the vehicle's actions and predicted movements with respect to objects adjacent to the vehicle 108. For example, the motion planning system 128 may implement an optimization algorithm that considers cost data related to the vehicle's actions as well as some other objective function (e.g., a cost function based on speed limits, traffic lights and / or other aspects of the environment) to determine the optimized variables that constitute the motion planning data 134. As an example, the motion planning system 128 may determine that the vehicle 108 can perform a particular action (e.g., passing an object) without increasing potential risks and / or violating any traffic regulations (e.g., speed limits, lane boundaries, signs). The motion planning data 134 may include the vehicle 108's planned trajectory, speed, acceleration, and / or other actions.

[0067] The motion planning system 128 can implement motion planning data 134 for vehicle 108 by providing motion planning data 134 having data indicating the vehicle's motion, planned trajectory, and / or other motion parameters relating to the vehicle control system 138. For example, vehicle 108 may include a mobility controller configured to translate the motion planning data 134 into commands. In some embodiments, the mobility controller can translate the determined motion planning data 134 into commands for controlling vehicle 108, including adjusting the vehicle's steering to an "X" angle and / or applying a braking force of a specific intensity. The mobility controller may transmit one or more control signals to the responsible vehicle control components (e.g., a braking control system, a steering control system, and / or an acceleration control system) to execute the commands and implement the motion planning data 134.

[0068] The vehicle computing system 112 may include a communication system 136 configured to enable the vehicle computing system 112 (and one or more of its computing devices) to communicate with other computing devices. The vehicle computing system 112 can communicate with the work computing system 104 and / or one or more other computing devices (e.g., one or more remote computing devices 106) via one or more networks (e.g., one or more radio signaling connections) using the communication system 136. In some embodiments, the communication system 136 can enable communication between one or more systems mounted on the vehicle 108. The communication system 136 may also be configured to enable the autonomous vehicle to communicate and / or provide and / or receive data and / or signals from the remote computing device 106 related to the user and / or items (e.g., items to be picked up for a delivery service). The communication system 136 may use a variety of communication technologies, including, for example, radio frequency signaling and / or Bluetooth® Low Energy Protocol. The communication system 136 may include, for example, one or more suitable components for interfacing with a network, including a transmitter, receiver, port, controller, antenna, and / or other suitable components that facilitate communication. In some embodiments, the communication system 136 may include multiple components (e.g., an antenna, transmitter, and / or receiver) that enable the implementation and utilization of multiple input, multiple output (MIMO) technology and communication technology.

[0069] The vehicle computing system 112 may include one or more human-machine interfaces 140. For example, the vehicle computing system 112 may include one or more display devices located on the vehicle computing system 112. The display devices (e.g., tablets, laptops, and / or smartphones) can be viewed by users of vehicle 108 located in the front of vehicle 108 (e.g., driver's seat, passenger seat). Additionally or alternatively, the display devices can be viewed by users of vehicle 108 located in the rear of vehicle 108 (e.g., rear passenger seats). For example, the autonomous computing system 120 may provide one or more outputs, including a graphic display of the location of vehicle 108 on a map of a geographic area within a specific distance (e.g., 1 km) from vehicle 108, including the locations of objects around vehicle 108. Passengers of vehicle 108 can interact with one or more human-machine interfaces 140 by touching one or more touchscreen display devices associated with the human-machine interfaces.

[0070] In some embodiments, the vehicle computing system 112 may perform one or more actions, including activating one or more vehicle systems related to the operation of the vehicle 108, at least in part, based on one or more signals or data (e.g., sensor data 116, map data 122, perception data 130, and / or motion planning data 134). For example, the vehicle computing system 112 may transmit one or more control signals to activate one or more vehicle systems, which can be used to control and / or direct the movement path of the vehicle 108 as it passes through the environment.

[0071] As another example, the vehicle computing system 112 can activate one or more vehicle systems, including a communication system 136 that can transmit and receive signals and / or data with other vehicle systems, other vehicles or remote computing devices (e.g., remote server equipment), one or more lighting systems (e.g., one or more headlights, emergency lights and / or interior lights), one or more vehicle safety systems (e.g., one or more seat belt and / or airbag systems), one or more notification systems that can generate one or more notifications for passengers of vehicle 108 (e.g., auditory and / or visual messages regarding the state or predicted state of objects outside vehicle 108), a braking system, a propulsion system that can be used to change the acceleration and / or speed of the vehicle, which may include one or more vehicle motor or engine systems (e.g., engines and / or motors used by vehicle 108 for movement), and / or a steering system that can change the path, course and / or direction of movement of vehicle 108.

[0072] Referring to Figure 2, a LiDAR system 200 according to some embodiments of the present disclosure is provided. The LiDAR system 200 may include a housing 210. The housing 210 may define a transverse direction 212, a longitudinal direction 214, and a vertical direction 216. It should be understood that the transverse direction 212, the longitudinal direction 214, and the vertical direction 216 are perpendicular to each other. In some embodiments, the housing 210 may include a partition wall 218 for dividing the interior of the housing 210 into a first space 220 and a second space 222. For example, the partition wall 218 can partition the interior of the housing 210 such that the first space 220 and the second space 222 are spaced apart from each other along the vertical direction 216.

[0073] As shown in the figure, the first space 220 can span a first distance 230 along the longitudinal direction 214. Furthermore, the second space 222 can span a second distance 232 along the longitudinal direction 214. In some embodiments, the first distance 230 may differ from the second distance 232 (e.g., longer or shorter). In alternative embodiments, the first distance 230 and the second distance 232 may be the same.

[0074] The LIDAR system 200 may include a plurality of emitters 240 (only one is shown). In some embodiments, the plurality of emitters 240 may be located inside the housing 210. For example, in some embodiments, the plurality of emitters 240 may be located within a first space 220 of the housing 210.

[0075] Multiple emitters 240 may each be configured to emit an optical signal 250 (only one shown) along the transmission path 260. In some embodiments, one or more of the emitters 240 may include a laser diode. In such embodiments, the optical signal 250 emitted from one or more laser diodes may be a laser signal.

[0076] The LIDAR system 200 may include multiple first optical systems 270 arranged along a transmission path 260. In this manner, multiple optical signals 250 can pass through the multiple first optical systems 270. The optical systems 270 may be located inside the housing 210. For example, the multiple first optical systems 270 may be located within a first space 220. The multiple first optical systems 270 form multiple optical signals 250, which can propagate over distance as a transmission signal 300 (only one is shown). It should be understood that the multiple transmission signals 300 as a whole may be referred to as an optical beam.

[0077] In some embodiments, a plurality of first optical systems 270 may include a collimator optical system 280 (e.g., a collimator). The collimator optical system 280 may be configured to align a plurality of optical signals 250 along an axis (e.g., a high-speed axis). It should be understood that the axis is one of the axes (e.g., a high-speed axis, a low-speed axis) along which the optical signals 250 are polarized. It should be understood that optical signals 250 polarized along the high-speed axis encounter a lower refractive index than optical signals 250 polarized along the low-speed axis and travel faster through the optical system. In some embodiments, the collimator optical system 280 may include one or more optical systems configured to align a plurality of optical signals 250 along an axis. For example, in some embodiments, one or more optical systems may include a toroidal optical system.

[0078] The multiple first optical systems 270 may include one or more transmitting optical systems 290. As shown in the figure, one or more transmitting optical systems 290 may be located along a transmission path 260 between the collimator optical system 280 and the multiple emitters 240. As will be described in more detail later, one or more transmitting optical systems 290 may be configured to focus multiple optical signals 250 onto the collimator optical system 280.

[0079] The LIDAR system 200 may include a plurality of photodetectors 310. In some embodiments, one or more photodetectors 310 may include avalanche photodiodes. In some embodiments, the plurality of photodetectors 310 may be arranged within the housing 210 of the LIDAR system 200. For example, the plurality of photodetectors 310 may be arranged within a second space 222 of the housing 210. The photodetectors 310 may be spaced apart from a plurality of emitters 240 along the vertical direction 216.

[0080] In some embodiments, the photodetector 310 may be arranged on a circuit board 320. More specifically, the photodetector 310 may be arranged on a curved surface of the circuit board 320. In some embodiments, the curved surface may include a Petzval surface. Alternatively or additionally, multiple photodetectors 310 may be spaced apart from each other along the curved surface of the circuit board 320 so as to be uniformly spaced along the curved surface of the circuit board 320. For example, in some embodiments, adjacent photodetectors 310 may be spaced apart from each other by a distance ranging from 1 millimeter to 10 millimeters.

[0081] Multiple photodetectors 310 can detect multiple return signals 302 traveling along a receiving path 262 separate from the transmission path 260. It should be understood that each transmission signal 300 may be reflected from one or more objects in the environment surrounding the LIDAR system 200 and can be detected by the multiple photodetectors 310 of the LIDAR system 200 as one of the multiple return signals 302. For example, in some embodiments, a return signal 302 can enter a second space 222 of the housing 210 of the LIDAR system 200.

[0082] The LIDAR system 200 may include a plurality of second optical systems 330 arranged along the receiving path 262. In some embodiments, the plurality of second optical systems 330 may be located inside the housing 210. For example, the plurality of second optical systems 330 may be located within a second space 322 of the housing 210.

[0083] Multiple second optical systems 330 may include one or more receiving optical systems 340. One or more receiving optical systems 340 may be configured to focus the return signal 302 onto a plurality of photodetectors 310. In some embodiments, one or more receiving optical systems 340 may be configured to focus the return signal 302 having an angle ranging from 45 degrees below the axis (e.g., the central axis of the receiving optical system 340) to 45 degrees above the axis. In some embodiments, one or more receiving optical systems 340 may be located within the housing 210 such that their central axis is parallel or substantially parallel to the longitudinal direction 214 of the housing 210. Thus, in such embodiments, one or more receiving optical systems 340 may be configured to focus the return signal 302 having an angle ranging from 45 degrees above the central axis (e.g., the longitudinal direction 214) to 45 degrees below the central axis.

[0084] In some embodiments, the multiple second optical systems 330 may include multiple focusing optical systems 350 (only one is shown). One or more of the multiple focusing optical systems 350 may be located along a receiving path 362 between one or more receiving optical systems 340 and corresponding photodetectors of the multiple photodetectors 310. In this manner, one or more focusing optical systems 350 may be configured to focus multiple return signals 302 onto corresponding photodetectors of the multiple photodetectors 310.

[0085] In some embodiments, the total number of photodetectors 310 may differ from the total number of emitters 240. For example, in some embodiments, the total number of photodetectors 310 included in the LIDAR system 200 may be greater than the total number of emitters 240 included in the LIDAR system 200.

[0086] Referring to Figures 3 and 4, a cross-sectional view of one emitter 240 according to some embodiments of the present disclosure is provided. Figure 3 shows a cross-sectional view of the emitter 240 in a first plane. Figure 4 shows a cross-sectional view of the emitter 240 in a second plane that is perpendicular or substantially perpendicular to the first plane.

[0087] In some embodiments, the width 242 of the emitter 240 may differ from the length 244 of the emitter 240. For example, the length 244 of the emitter 240 may be longer than the width 242 of the emitter 240. In some embodiments, the ratio of the length 244 to the width 242 of the emitter 240 may range from about 16:1 to about 24:1.

[0088] In some embodiments, the emitter 240 may have a first focal length 400 along a first axis 402 (e.g., a high-speed axis) and a second focal length 410 along a second axis 412 (e.g., a low-speed axis) perpendicular or substantially perpendicular to the first axis 402. Also in some embodiments, the second focal length 410 may be longer than the first focal length 400. For example, in some embodiments, the ratio of the second focal length 410 to the first focal length 400 may be in the range of 16:1 to about 24:1.

[0089] In some embodiments, the optical signal 250 emitted from the emitter 240 can diverge from a first axis 402 and a second axis 412. For example, the optical signal 250 can diverge from the first axis 402 to a first divergence angle 420 defined between the optical signal 250 and the first axis 402. Alternatively, the optical signal 250 can branch off from the second axis 412 to a second divergence angle 422 defined between the optical signal 250 and the second axis 412.

[0090] Referring to Figures 5 and 6, the collimator optical system 280 may have a primary optical output along the first axis 402. In this manner, the collimator optical system 280 can collimate the optical signal 250 along the first axis 402. In some embodiments, the primary optical output of the collimator optical system 280 along the first axis 402 may be the maximum optical output of the collimator optical system 280.

[0091] It should be understood that the primary optical output of the collimator optics 280 along the first axis 402 can be several times greater than the optical output of the collimator optics 280 along any other axis (e.g., the second axis 412). For example, the primary optical output of the collimator optics 280 along the first axis 402 may be at least three times greater than the optical output of the collimator optics 280 along any other axis (e.g., the second axis 412). In some embodiments, the primary optical output of the collimator optics 280 along the first axis 402 may be at least five times greater than the optical output of the collimator optics 280 along any other axis (e.g., the second axis 412). In some embodiments, the primary optical output of the collimator optics 280 along the first axis 402 may be at least ten times greater than the optical output of the collimator optics 280 along any other axis (e.g., the second axis 412).

[0092] One or more transmitting optical systems 290 may have a primary optical output along the second axis 412. In this manner, one or more transmitting optical systems 290 can manipulate the optical signal 250 to focus it onto the collimator optical system 280. In some embodiments, the primary optical output of one or more transmitting optical systems 290 along the second axis 412 may be the maximum optical output of one or more transmitting optical systems 290.

[0093] It should be understood that the primary optical output of one or more transmitting optical systems 290 along the second axis 412 can be several times greater than the optical output of one or more transmitting optical systems 290 along any other axis (e.g., the first axis 402). For example, the primary optical output of one or more transmitting optical systems 290 along the second axis may be at least three times greater than the optical output of one or more transmitting optical systems 290 along any other axis (e.g., the first axis 402). In some embodiments, the primary optical output of one or more transmitting optical systems 290 along the second axis 412 may be at least five times greater than the optical output of one or more transmitting optical systems 290 along any other axis (e.g., the first axis 402). In some embodiments, the primary optical output of one or more transmitting optical systems 290 along the second axis 412 may be at least ten times greater than the optical output of one or more transmitting optical systems 290 along any other axis (e.g., the first axis 402).

[0094] In some embodiments, the first focal length associated with the collimator optical system 280 may differ from the second focal length associated with one or more transmitting optical systems 290. For example, the first focal length may be shorter than the second focal length. In some embodiments, the first focal length may correspond to the width 242 (Figures 3 and 4) of one emitter 240 (e.g., a laser diode), while the second focal length may correspond to the length 244 (Figure 4) of one emitter 240 (e.g., a laser diode). For example, the ratio of the second focal length (e.g., the length 244 of one emitter 240) to the first focal length (e.g., the width 242 of one emitter 240) may range from about 16:1 to about 24:1. In this manner, the divergence angles (e.g., first divergence angle 420, second divergence angle 422) between the optical signal 250 and one or more axes (e.g., first axis 402, second axis 412) can decrease as the second focal length associated with at least part of one or more transmitting optical systems 290 becomes a multiple of the first focal length associated with the collimator optical system 280.

[0095] In some embodiments, one or more transmitting optical systems 290 may include a first transmitting optical system and a second transmitting optical system. Also in some embodiments, the first transmitting optical system may have a first focal length, while the second transmitting optical system may have a second focal length different from the first focal length (e.g., shorter or longer). In this manner, the point at which the transmitted signal 300 (Figure 2) converges in the environment surrounding the LIDAR system 200 can be adjusted (e.g., extended or shortened).

[0096] Referring to Figure 7, a plan view of a toroidal-shaped optical system 500 according to some embodiments of the present disclosure is provided. Referring to Figure 2, it should be understood that one or more transmitting optical systems 290 (Figure 2) of the aforementioned LIDAR system 200 may include one or more toroidal-shaped optical systems 500. As shown, the toroidal-shaped optical system 500 can define a circumferential direction 502 and a radial direction 504. In some embodiments, the toroidal-shaped optical system 500 may have a constant thickness 506 along the circumferential direction. In this manner, distortion of the optical signal 250 (Figure 2) by one or more transmitting optical systems 290 having non-uniform thickness can be prevented. In addition, the null radius of curvature of the toroidal-shaped optical system 500 can facilitate 90-degree steering of the optical signal 250 (Figure 2).

[0097] Referring to Figure 8, one or more receiving optical systems 340 according to some embodiments of the present disclosure are provided. As shown in the figure, in some embodiments, one or more receiving optical systems 340 may include a first receiving optical system 600 and a second receiving optical system 610. The first receiving optical system 600 may be located at a first position along the receiving path 262. The second receiving optical system 610 may be located at a second position along the receiving path 262. The second position may be closer to the plurality of photodetectors 310 than the first position. In this manner, the second receiving optical system 610 may be located along the receiving path 262 between the first receiving optical system 600 and the plurality of photodetectors 310.

[0098] In some embodiments, the first receiving optical system 600 may include a conical mirror. Alternatively or additionally, the second receiving optical system 610 may include an aspherical lens. It should be understood that the aspherical lens may include a first aspherical surface and a second aspherical surface.

[0099] In some embodiments, the first receiving optical system 600 and the second receiving optical system 610 may each include an aspherical lens. In such embodiments, the receiving optical system 340 may include four aspherical surfaces (for example, two aspherical surfaces associated with the first receiving optical system 600 and two aspherical surfaces associated with the second receiving optical system 610). As shown in the figure, the first receiving optical system 600 and the second receiving optical system 610 can focus the return signal 302 onto the corresponding photodetector among a plurality of photodetectors 310 (Figure 2) arranged on the curved surface of the circuit board 320.

[0100] Referring to Figure 9, one of several focusing optical systems 350 according to some embodiments of the present disclosure is shown. As shown, the focusing optical system 350 may be configured to focus each return signal 302 onto a corresponding photodetector among several photodetectors 310. In this manner, the field of view of the photodetectors 310 can be broadened, at least partially, by the focusing optical system 350. In some embodiments, the focusing optical system 350 may include a right-angle focusing optical system.

[0101] Referring to Figures 10 to 13, a LiDAR system 200 according to some embodiments of the present disclosure is provided. As shown in Figure 12, the LiDAR system 200 may include a first mirror 700. In some embodiments, the first mirror 700 may be located inside the housing 210. As shown in Figure 13, the first mirror 700 may be located along the lateral direction 212 between the first emitter 702 and the second emitter 704 of the LiDAR system 200. It should be understood that the first emitter 702 and the second emitter 704 operate in substantially the same manner as the emitter 240 described above with reference to Figures 3 and 4.

[0102] In some embodiments, as shown in Figure 10, the first mirror 700 may be rotatably coupled to an electric motor 710 (e.g., a brushless motor). For example, the first mirror 700 may be rotatably coupled to the electric motor 710 via a shaft 720 shown in Figure 11. In this manner, the electric motor 710 can rotate the first mirror 700 by driving the rotation of the shaft 720. In some embodiments, the first mirror 700 may rotate along a first axis (e.g., the first axis 402, the high-speed axis, in Figure 3) associated with the optical signals 250 emitted from the first emitter 702 and the second emitter 704.

[0103] In some embodiments, the LIDAR system 200 may include a second mirror (not shown) rotatably coupled to a second electric motor (not shown) via a second shaft. In such embodiments, the second electric motor can drive the rotation of the second shaft to rotate the second mirror about a second axis (e.g., second axis 412, low-speed axis in Figure 4) associated with the optical signals 250 emitted from the first emitter 702 and the second emitter 704. In some embodiments, the second mirror may include a square mirror. However, it should be understood that the second mirror may have any suitable shape.

[0104] In some embodiments, the first mirror 700 and the second mirror can rotate at different speeds. For example, the first mirror 700 can rotate at a first rotational speed faster than the second rotational speed at which the second mirror rotates. In some embodiments, the first rotational speed may be in the range of about 15,000 revolutions per minute to about 20,000 revolutions per minute. Alternatively or additionally, the second rotational speed may be in the range of about 100 revolutions per minute to about 200 revolutions per minute.

[0105] In some embodiments, as shown in Figure 13, the first mirror 700 may be a single-sided mirror. In such embodiments, the first mirror 700 can direct the optical signal 250 emitted from the first emitter 702 toward one or more transmitting optical systems 290 during the first half of the rotation of the first mirror 700. Furthermore, the first mirror 700 can direct the optical signal 250 emitted from a second emitter during the second half of the rotation of the first mirror. The rotation of the first mirror 700 should be understood as referring to one complete rotation of the first mirror 700 with respect to the first axis.

[0106] In some embodiments, the back surface of the first mirror 700 can be used for optical coding. For example, an optical signal 250 emitted from the second emitter 704 may be reflected from the first mirror 700 during the first half of its rotation. Also, in some embodiments, the optical signal 250 reflected from the back surface of the first mirror 700 may be directed to a circuit related to optical coding. In this manner, the circuit can process the optical signal 250 reflected from the back surface of the first mirror 700.

[0107] In some embodiments, the first mirror 700 may include a planar mirror. In this manner, the optical signal 250 can be tuned through the first mirror 700 without modifying the wavefront of the first mirror 700. However, it should be understood that the first mirror 700 may have any suitable shape. For example, in some embodiments, the first mirror 700 may include a pyramidal mirror or an elliptical mirror. In alternative embodiments, the first mirror 700 may include a polygonal mirror.

[0108] Referring to Figures 14 and 15, a LiDAR system 800 according to some embodiments of the present disclosure is provided. Figure 14 shows a plan view of the LiDAR system 800. Figure 15 shows a side view of the LiDAR system 800. As shown, the LiDAR system 800 may include two of the housings 210 of the LiDAR system 200 described above with reference to Figures 2 to 13. In alternative embodiments, the LiDAR system 800 may include more or fewer housings 210.

[0109] As shown in the figure, the LIDAR system 800 includes an optical system 810 positioned relative to each of the housings 210, so that multiple transmit signals 300 passing through each of the housings 210 can be directed onto the optical system 810, as shown in Figure 15. In some embodiments, the optical system 810 may have multiple reflective surfaces 812. In this manner, multiple transmit signals 300 can be reflected from one of the multiple reflective surfaces 812.

[0110] In some embodiments, the optical system 810 is rotatable around an axis. In this manner, multiple transmitted signals 300 reflected from the optical system 810 can be directed in different directions from one another. It should be understood that the optical system 810 can rotate around the axis at any appropriate speed. For example, in some embodiments, the optical system 810 can rotate around the axis at speeds ranging from about 1,100 revolutions per minute to about 1,500 revolutions per minute.

[0111] Figure 16 shows the system components of a computing system 900 according to some embodiments of the present disclosure. The computing system 900 may include a vehicle computing system 112 and one or more remote computing systems 950 that are communicably connected to the vehicle computing system 112 via one or more networks 945. The computing system 900 may include one or more computing devices 910. The computing devices 910 of the vehicle computing system 112 may include a processor 915 and memory 920. The one or more processors 915 may be any suitable processing unit (e.g., a processor core, microprocessor, ASIC, FPGA, controller, microcontroller, etc.) and may be one processor or multiple operably connected processors. The memory 920 may include one or more non-temporary computer-readable storage media such as RAM, ROM, EEPROM, EPROM, one or more memory devices, flash memory devices, etc., and combinations thereof.

[0112] Memory 920 can store information that can be accessed by one or more processors 915. For example, memory 920 (e.g., one or more non-temporary computer-readable storage media, memory devices) may contain computer-readable instructions 925 that can be executed by one or more processors 915. Computer-readable instructions 925 can be embodied in software or hardware recorded in any suitable programming language. Additionally or alternatively, computer-readable instructions 925 may be executed in a logical and / or substantially separate thread on processor 915.

[0113] For example, when executed by one or more processors 915, memory 920 can store computer-readable instructions 925 that cause one or more processors 915 to perform operations such as arbitrary actions and functions of a computing system configured as described herein.

[0114] Memory 920 can store data 930 that can be acquired, received, accessed, recorded, manipulated, generated, and / or stored. Data 930 may include, for example, sensor data acquired via a LiDAR system 800 (shown in Figures 14 and 15), and / or other data / information described herein. In some embodiments, computing device 910 can acquire and / or store data from one or more memory devices that are remote from computing system 900, such as one or more memory devices of a remote computing system 950.

[0115] The computing device 910 may also include a communication interface 935 used to communicate with one or more other systems (e.g., a remote computing system 950). The communication interface 935 may include any circuits, components, software, etc., for communicating over one or more networks (e.g., 945). In some embodiments, the communication interface 935 may include, for example, one or more communication controllers, receivers, transceivers, transmitters, ports, conductors, software, and / or hardware for communicating data / information.

[0116] Network 945 may be any type of network or combination of networks that enables communication between devices. In some embodiments, network 945 may include one or more combinations of these, which may include a local area network, a wide area network, the Internet, a secure network, a cellular network, a mesh network, a peer-to-peer communication link, and / or any number of wired or wireless links. Communication over network 945 may be achieved, for example, through a network interface using any type of protocol, protection scheme, encoding, format, packaging, etc.

[0117] Figure 16 shows one exemplary computing system 900 that can be used to implement this disclosure. Other computing systems can also be used without departing from the scope of this disclosure. Computer-based systems allow for a wide variety of configurations, combinations, operations, and functional partitions between components. Computer implementation operations can be performed by a single component or multiple components. Computer implementation operations and / or operations can be performed sequentially or in parallel. Data and instructions can be stored in a single memory device or multiple memory devices.

[0118] Computing tasks described herein as being performed on a computing device located away from the vehicle may instead be performed in the vehicle (e.g., via a vehicle computing system), or vice versa. Such configurations can be embodied without departing from the scope of this disclosure.

[0119] Referring here to Figure 17, a block diagram of a LIDAR system 800 according to some embodiments of the present disclosure is provided. It should be understood that the LIDAR system 800 may be included as part of the sensor 114 described above with reference to Figure 1. As shown, the LIDAR system 800 may include a plurality of channels 1010, specifically channels 1 to N. It should be understood that channels 1 to N may be contained in a single housing 210 or distributed across multiple housings 210. Each channel 1010 may output point data that provides a single point of distance information. The point data output by each channel 1010 (e.g., point data 1-N) may be combined to generate a point cloud corresponding to a three-dimensional representation of the surrounding environment.

[0120] As shown in the diagram, each channel 1010 may include an emitter 1020 paired with a receiver 1030. The emitter 1020 emits an optical signal into the environment, and the emitted optical signal is reflected from the surrounding environment and returned to a detector 1032 (e.g., an optical detector) of the receiver 1030. Each emitter 1020 may have an adjustable power level that controls the intensity of the emitted laser signal. The adjustable power level allows the emitter 1020 to emit a laser signal at one of several different power levels (e.g., intensity).

[0121] The detector 1032 may provide a return signal to the readout circuit 1034. The readout circuit 1034 can sequentially output point data based on the return signal. The point data can represent the distance of the LIDAR system 800 from a detected object (e.g., a road, pedestrian, vehicle, etc.) determined by the readout circuit 1034 by measuring the Time-of-Flight (ToF), where ToF is the elapsed time between the emitter 1020 emitting a laser signal (e.g., a laser beam) and the receiver 1030 detecting a return signal (e.g., a reflected laser beam).

[0122] The point data further includes intensity values ​​corresponding to each return signal. The intensity values ​​represent the intensity measurement of the return signal determined by the readout circuit 1034. As previously mentioned, the intensity of the return signal provides information about the surface reflecting the signal and can be used for localization, perception, prediction, and / or action planning of the autonomous computing system 120 (Figure 1). The intensity of the return signal varies depending on various factors such as the distance from the LIDAR system 800 to the detected object, the angle of incidence at which the emitter 1020 emits the laser signal, the ambient temperature, the alignment of the emitter 1020 and receiver 1030, and the reflectivity of the detected surface.

[0123] As shown in the figure, the reflectance processing system 1040 receives point data from the LIDAR system 800 and processes the point data to classify the specular reflectance characteristics of objects. The reflectance processing system 1040 classifies the specular reflectance characteristics of objects based on a comparison of reflectance values ​​derived from the intensity values ​​of the return signals. In some embodiments, the LIDAR system 800 may be corrected to generate reflectance values. For example, the readout circuit 1034 or other components of the LIDAR system 800 may be configured to normalize intensity values ​​to generate reflectance values. In these embodiments, the reflectance values ​​may be included in the point data received from the LIDAR system 800 by the reflectance processing system 840. In other embodiments, the reflectance processing system 840 may generate reflectance values ​​based on return intensity values ​​included in the data points received from the LIDAR system 800.

[0124] Regardless of which component is responsible for generating the reflectance value, the process for doing so may, in some embodiments, involve using a linear model to calculate one or more calibration multipliers and one or more bias values ​​applied to the return intensity value. By embodiment, calibration multipliers and bias values ​​can be calculated and applied for each channel of the LIDAR system 800 at each power level. The linear model assumes uniform diffuse reflectance for all surfaces and describes the expected intensity value as a function of raw intensity variables, calibration multiplier variables and / or bias variables. Calculating the calibration multipliers and bias values ​​for each channel / power level combination involves determining a median intensity value based on the raw intensity value output by the channel at each power level and using the median intensity value as the expected intensity value in the linear model while optimizing the calibration multiplier and bias variable values. For example, the calibration multipliers and bias values ​​can be calculated by solving the linear model using iterated re-weighted least squares.

[0125] The correction multipliers and bias values ​​calculated for each channel 1010 at each power level can be assigned to the corresponding channel / power level combination. In this manner, each power level of each channel in the LIDAR system 800 may have bias values ​​that can independently derive assigned correction multipliers and reflectance values. Once assigned, the correction multipliers and bias values ​​of each channel / power level combination can be used at runtime to determine the reflectance value from the subsequent intensity value generated by that channel at that power level during the operation of an autonomous or semi-autonomous vehicle. More specifically, the reflectance value can be determined from a linear model using the correction multiplier value and the bias value for each of the correction multiplier variable and bias variable. Thus, the intensity value can be normalized to further align with the reflectance of the surface, taking into account factors such as the distance from the LIDAR system 800 to the detected surface, the angle of incidence at which the emitter 1020 emits the laser signal, the ambient temperature, and / or the alignment of the emitter 1020 and the receiver 1030.

[0126] Referring to Figure 18, a flowchart of an exemplary method 1100 for controlling the operation of a robot platform (or other device) according to some embodiments of this disclosure is provided. One or more parts of method 1100 can be embodied by a computing system (e.g., a vehicle computing system 112, an autonomous vehicle control system, etc.) as described with reference to other drawings. Each part of method 1100 can be performed by any (or any combination) of one or more computing devices. Also, one or more parts of method 1100 can be embodied as an algorithm for hardware components of the devices described herein to control the operation of a robot platform or other device using data acquired from a LIDAR system.

[0127] Figure 18 shows elements performed in a specific order for illustrative and explanatory purposes. Those skilled in the art using the disclosures provided herein will understand that elements of any method described herein can be applied, rearranged, extended, omitted, combined, and / or modified in various ways without departing from the scope of this disclosure. Figure 18 is described for illustrative purposes with reference to and not intended to limit elements / terms described in relation to other systems and drawings. One or more parts of Method 1100 may be performed additionally or alternatively by other systems.

[0128] In 1102, method 1100 may include acquiring sensor data representing objects within the field of view of a LiDAR system via a LiDAR system. For example, as described herein, the LiDAR system may include a plurality of emitters (e.g., laser diodes) each configured to emit an optical signal along a transmission path. The LiDAR system may further include a plurality of first optical systems arranged along the transmission path.

[0129] In some embodiments, a plurality of first optical systems may include a collimator optical system having a primary optical output along a first axis (e.g., the first axis). In this manner, the collimator optical system may be configured to collimate the optical signal emitted from the emitter along the first axis. The plurality of first optical systems may further include one or more transmitting optical systems. One or more transmitting optical systems may be located between the collimator optical system and the plurality of emitters. Also, one or more transmitting optical systems may have a primary optical output along a second axis (e.g., a low-speed axis) perpendicular or substantially perpendicular to the first axis. The optical signal can be tuned along one or more transmitting optical systems. In this manner, the LIDAR system can facilitate pre-collimation steering of the optical signal before it is collimated along the first axis via the collimator optical system. For example, the optical signal can be tuned along one or more transmitting optical systems to focus the optical signal on the collimator optical system. In this manner, the collimation of the optical signal can be improved.

[0130] Each optical signal can be emitted as a transmission signal for multiple transmission signals (e.g., collimated optical signals). The transmission signals can be reflected from one or more objects in the environment surrounding the LIDAR system (e.g., pedestrians, road signs, vehicles, etc.).

[0131] A LIDAR system may include multiple photodetectors. These photodetectors may be positioned on a curved surface of a circuit board (e.g., a Petzval surface). The LIDAR system may further include multiple second optical systems positioned along a receiving path separate from the transmitting path. In this manner, the multiple second optical systems may be positioned along the receiving path such that multiple reflected light signals (e.g., reflected transmitted signals) pass through the multiple second optical systems.

[0132] In some embodiments, a plurality of second optical systems include one or more receiving optical systems. One or more receiving optical systems are configured to focus a plurality of reflected light beams onto a photodetector. For example, in some embodiments, one or more receiving optical systems may include at least one aspherical lens. For example, in some embodiments, one or more receiving optical systems may include a first aspherical lens located at a first distance from the photodetector and a second aspherical lens located at a second distance from the photodetector. In some embodiments, the first aspherical lens and the second aspherical lens may include a first aspherical surface and a second aspherical surface, respectively.

[0133] In some embodiments, the plurality of second optical systems may include a plurality of focusing optical systems. The plurality of focusing optical systems may be located along a receiving path between one or more receiving optical systems and a plurality of photodetectors, with corresponding photodetectors. Each focusing optical system may be configured to focus one or more of a plurality of reflected light signals onto the corresponding photodetector. In some embodiments, each focusing optical system may be configured to focus all reflected light signals onto the corresponding photodetector. In this manner, the field of view of the photodetector can be broadened, at least partially, by the plurality of focusing optical systems. It should be understood that the LIDAR system may generate sensor data based, at least partially, on reflected light signals detected by the plurality of photodetectors.

[0134] A computing system (e.g., an autonomous vehicle control system) may perform one or more actions / tasks on a robotic platform (e.g., an autonomous vehicle) or other device based at least partially on sensor data (e.g., collected via a LiDAR system in 1102). This may include, for example, one or more tasks to determine objects in the surrounding environment in 1104-1108, predict the movement of objects, plan / control the movement of the robotic platform, and activate components mounted on the robotic platform. The computing system (e.g., an autonomous vehicle control system) may provide one or more control signals to cause the robotic platform or other device (e.g., an autonomous vehicle) to perform one or more such arbitrary actions / tasks based at least partially on sensor data.

[0135] For example, in 1104, method 1100 may include determining perceptual data about an object based at least in part on sensor data acquired in 1102. Perceptual data may be current and / or past estimates of the object's position and / or orientation, speed, velocity, acceleration, direction, localization, size / footprint (e.g., represented by boundary shape), classification (e.g., pedestrian classification vs. vehicle classification vs. bicycle classification), and / or other state information. For example, a robotic platform or other device may determine perceptual data by processing LIDAR data collected via the LIDAR system in 1102 using one or more machine learning models trained to identify and classify objects in the surrounding environment.

[0136] In 1106, method 1100 may include determining one or more future positions of an object based at least in part on perceptual data about the object. For example, a robotic platform or other device may, given the object's orientation, velocity, type, etc., over a current / previous time step, generate a trajectory (e.g., including one or more waypoints) that shows the predicted future movement of the object.

[0137] In 1108, method 1100 may include determining actions for a robotic platform or other device based at least in part on one or more future positions of an object. For example, an autonomous vehicle may generate a motion plan that includes a vehicle trajectory that the vehicle can move to avoid interference / collision with an object. In another example, an autonomous vehicle may determine that an object is a user intending to board the autonomous vehicle (e.g., for a human transport service) and / or a user intending to place an item in the autonomous vehicle (e.g., a delivery / delivery service). The autonomous vehicle may unlock doors, trunks, etc., to allow the user to board the vehicle or place an item inside the vehicle. The autonomous vehicle may transmit one or more control signals (e.g., to a motion control system, door control system, etc.) to initiate the determined action. In another example, an autonomous vehicle may activate one or more lights based at least in part on processing LIDAR data, as described herein, and generate one or more user interfaces (e.g., for display via the vehicle's display device).

[0138] While this subject matter describes in detail certain embodiments and methods, those skilled in the art will understand that modifications, variations, and equivalents for such embodiments can be easily produced upon understanding the foregoing. Therefore, the scope of this disclosure is illustrative rather than restrictive, and this disclosure does not exclude such modifications, variations, and / or additions to the subject matter that are apparent to those skilled in the art.

Claims

1. As a LIDAR (Light Detection and Ranging) system, Multiple emitters—at least one of the emitters is configured to emit an optical signal along the transmission path— A Lidar system comprising: a plurality of first optical systems located along the transmission path, each of which includes a collimator optical system having a primary optical output along a first axis and one or more transmitting optical systems having a primary optical output along a second axis, wherein the one or more transmitting optical systems are arranged between the collimator optical system and the plurality of emitters.

2. The LIDAR system according to any one of the preceding claims, wherein the second axis is perpendicular or substantially perpendicular to the first axis.

3. The primary optical output of the collimator optical system in the first axial direction indicates the degree to which the collimator optical system converges or diverges the optical signal along the first axis. The LIDAR system according to any one of the preceding claims, wherein the primary optical output of the one or more transmitting optical systems in the second axial direction indicates the extent to which the one or more transmitting optical systems converge or diverge the optical signal along the second axis.

4. The primary optical output of the collimator optical system includes the maximum optical output of the collimator optical system. The LIDAR system according to any one of the preceding claims, wherein the primary optical output of the one or more transmitting optical systems includes the maximum optical output of the one or more transmitting optical systems.

5. The one or more transmitting optical systems include one or more toroidal-shaped optical systems. The one or more toroidal-shaped optical systems are LIDAR systems according to any one of the preceding claims, defining a circumferential direction and a radial direction.

6. The LIDAR system according to claim 5, wherein the radius of curvature of one or more toroidal optical systems has a constant thickness along the circumferential direction.

7. The collimator optical system has a first focal length, The LIDAR system according to any one of the preceding claims, wherein one or more transmitting optical systems have a second focal length, and the second focal length is longer than the first focal length.

8. The first focal length corresponds to the width of the first emitter among the plurality of emitters, The LIDAR system according to claim 7, wherein the second focal length corresponds to the length of the first emitter, and the length of the first emitter is longer than the width of the first emitter.

9. The LIDAR system according to claims 6 to 8, wherein the ratio of the second focal length to the first focal length is 16:1 to 24:

1.

10. Multiple photodetectors—one or more of the photodetectors are arranged along the curved surface of the circuit board—and A LIDAR system according to any one of the preceding claims, further comprising: a plurality of second optical systems—the plurality of second optical systems being positioned along the receiving path such that a plurality of reflected light signals moving along the receiving path pass through the plurality of second optical systems.

11. The aforementioned plurality of second optical systems include one or more receiving optical systems, The LIDAR system according to claim 10, comprising a plurality of focusing optical systems—at least one of which is located between the one or more receiving optical systems and a corresponding photodetector among the plurality of photodetectors.

12. A LIDAR system according to any one of the preceding claims, further comprising a mirror—the mirror being positioned along the transmission path between the one or more transmitting optical systems and the plurality of emitters—the mirror being rotatable about the first or second axis.

13. The LIDAR system according to claim 12, wherein the mirror is rotatable with respect to the first axis at a rotational speed in the range of approximately 15,000 revolutions per minute to approximately 20,000 revolutions per minute.

14. An autonomous vehicle control system including the LIDAR system according to any one of claims 1 to 13.

15. An autonomous vehicle comprising the LIDAR system according to any one of claims 1 to 13.

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