Litarium module for light detection and distance measurement (LIDAR) systems

Abstract

The LIDAR system includes a substrate and an emitter coupled to the substrate and configured to emit a light beam along a first axis of the substrate. The LIDAR system includes an optical device coupled to the substrate and configured to split the light beam into multiple light beams. The LIDAR system includes an optical amplifier array coupled to the substrate and configured to amplify the multiple light beams received from the optical device to produce multiple amplified light beams. The LIDAR system includes a transceiver coupled to the substrate and configured to redirect the multiple amplified light beams from traveling along the first axis of the substrate to traveling along a second axis of the substrate, which is different from the first axis.

Description

Technical Field

[0001] Claim of Priority This application claims priority and the benefit thereof to U.S. Patent Application No. 18 / 191,621, filed on March 28, 2023, which is incorporated by reference in its entirety for all purposes.

Background Art

[0002] Optical detection and ranging (LIDAR) systems use lasers to generate a three-dimensional representation of the surrounding environment. A LIDAR system includes at least one emitter that pairs with a receiver to form a channel, although 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 surrounding environment. The laser beam is reflected from an object in the surrounding environment, and the reflected laser beam is detected by the receiver. A single channel provides distance measurement information for a single point. Collectively, the channels are combined to generate a point cloud corresponding to a three-dimensional representation of the surrounding environment.

Summary of the Invention

[0003] Aspects and advantages of embodiments of the present disclosure can be referred to in part in the following description, learned from the description, or learned through the implementation of the embodiments.

[0004] Exemplary aspects of the present disclosure relate to LIDAR systems. As further described herein, LIDAR systems are used by various devices and platforms (e.g., robotic platforms, etc.), and can improve the ability of such devices and platforms to recognize their environments and perform functions in response thereto (e.g., autonomously explore the environment).

[0005] This disclosure relates, for example, to a LiDAR system used in a vehicle. An exemplary embodiment of the LiDAR system includes a LiDAR module, which includes an emitter configured to emit a light beam. The LiDAR module includes an optical device configured to split the light beam into a plurality of light beams. The LiDAR module includes an optical amplifier array configured to amplify the plurality of light beams to produce a plurality of amplified light beams. For example, the optical output of the amplified light beams may range in some embodiments from 10 decibels greater than the optical output of the plurality of light beams to 30 decibels greater than the optical output of the plurality of light beams. The LiDAR module includes a transceiver configured to easily transmit the plurality of amplified light beams to the surrounding environment. The transceiver may be further configured to receive return light beams from the surrounding environment and combine these light beams to generate point cloud data representing objects in the surrounding environment.

[0006] The emitter, optics, optical amplifier array, and transceiver are arranged on the substrate of the LIDAR module. For example, the emitter, optics, optical amplifier array, and transceiver may all be arranged on a first surface of the substrate. In some embodiments, the transceiver aligns with an aperture defined by a specific portion of the substrate. The transceiver is further configured to redirect multiple amplified optical beams to the aperture. For example, the transceiver is configured to redirect multiple amplified optical beams traveling along a first axis (e.g., the longitudinal axis) of the substrate along a second axis (e.g., the vertical axis) of the substrate.

[0007] In some embodiments, the optical amplifier array may be edge-coupled to an optical device. For example, multiple inputs of the optical amplifier array may be coupled to individual outputs of the optical device. In this way, multiple light beams can be supplied to the optical amplifier array without requiring an optical device (e.g., microlenses) to direct the multiple light beams to the individual inputs of the optical amplifier array. Also in some embodiments, the transceiver may be edge-coupled to the optical amplifier array. For example, multiple inputs of the transceiver may be coupled to individual outputs of the optical amplifier array. In this way, multiple amplified light beams can be supplied to the transceiver without requiring a dedicated optical device (e.g., microlenses) to direct the multiple amplified light beams to the individual inputs of the transceiver.

[0008] In some embodiments, the LIDAR system may include a heat spreader coupled to a substrate so as to enclose the emitter, optical device, optical amplifier array, and transceiver within a cavity defined by the heat spreader. The heat spreader may also be coupled to the optical amplifier array to facilitate heat transfer from the optical amplifier array to the heat spreader. In this way, heat generated by the optical amplifier array, for example, by the amplification of multiple light beams received from the optical device, can be dissipated more efficiently.

[0009] In some embodiments, the LIDAR system may include an optical window (e.g., a sapphire window) positioned on a second surface of the substrate. More specifically, the optical window can be aligned with an aperture defined by a particular portion of the substrate. In this way, multiple amplified light beams guided by the transceiver to an aperture on the first surface of the substrate can exit the aperture on the second surface of the substrate and pass through the optical window. In alternative embodiments, the transceiver may be bonded to the first surface of the substrate with epoxy material, metal solder, or brazing material to create a seal (e.g., fully sealed or nearly sealed) between the transceiver and the substrate. More specifically, in some embodiments, the transceiver may be bonded to the first surface of the substrate with epoxy material to create a nearly sealed seal. In alternative embodiments, the transceiver may be bonded to the first surface of the substrate with metal solder or brazing material to create a sealed seal. It will be understood that a seal between the substrate and the transceiver can eliminate the need for an optical window bonded to the second surface of the substrate.

[0010] The LIDAR system described herein can offer numerous technical advantages and benefits. For example, edge coupling between the optical amplifier array and the optical device, and between the optical amplifier array and the transceiver, can eliminate the need for dedicated optical devices (e.g., microlenses), thereby reducing the complexity of the LIDAR module. Furthermore, because edge coupling requires the components (e.g., optical device, optical amplifier array, transceiver) to be placed in close proximity to each other on the substrate, the size of the substrate can be reduced, thereby decreasing the overall footprint of the LIDAR module.

[0011] In an exemplary embodiment of the present disclosure, a LIDAR system is provided. The LIDAR system includes a substrate and a substrate-coupled emitter. The emitter is configured to emit a light beam along a first axis of the substrate. The LIDAR system includes an optical device coupled to the substrate. The optical device is configured to split the light beam into a plurality of light beams. The LIDAR system includes an optical amplifier array coupled to the substrate. The optical amplifier array is configured to amplify the plurality of light beams received from the optical device to produce a plurality of amplified light beams. The LIDAR system includes a transceiver coupled to the substrate. The transceiver is configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to traveling along a second axis of the substrate, which is different from the first axis.

[0012] In some embodiments, the transceiver includes a grating coupler (e.g., an edge grating coupler) configured to redirect multiple amplified light beams from traveling along a first axis of the substrate to a second axis of the substrate.

[0013] In some embodiments, a specific portion of the substrate defines an aperture. In such embodiments, the transceiver is configured to redirect multiple amplified light beams from traveling along a first axis of the substrate to traveling along a second axis of the substrate, and to direct the multiple amplified light beams through an aperture defined by the specific portion of the substrate.

[0014] In some embodiments, the LIDAR system includes a heat spreader bonded to a substrate so as to surround the emitter, optical device, optical amplifier array, and transceiver within a cavity defined by the heat spreader.

[0015] In some embodiments, a specific portion of the heat spreader defines an aperture, and the transceiver aligns with the aperture. In this way, the transceiver can redirect multiple amplified light beams from traveling along a first axis of the substrate to traveling along a second axis of the substrate, and can redirect multiple amplified light beams through an aperture defined by the specific portion of the heat spreader.

[0016] In some embodiments, the heat spreader is coupled to the optical amplifier array to facilitate heat transfer from the optical amplifier array to the heat spreader.

[0017] In some embodiments, the optical amplifier array is edge-coupled to the optical device, and the transceiver is edge-coupled to the optical amplifier array.

[0018] In some embodiments, the emitter, optical device, optical amplifier array, and transceiver are bonded to a first surface of the substrate. Furthermore, a specific portion of the substrate defines an opening that extends through its interior, and the transceiver aligns with the opening. In some embodiments, the LIDAR system further includes an optical window bonded to a second surface of the substrate, the optical window aligning with the opening. In some embodiments, the transceiver may be bonded to the substrate with epoxy material to create a seal (e.g., nearly sealed) between the substrate and the transceiver. In some embodiments, the transceiver may be bonded to the substrate with epoxy material, metal solder, or brazing material to create a seal (e.g., nearly sealed) between the substrate and the transceiver.

[0019] In some embodiments, the emitter includes a distributed feedback laser, and the light beam includes a laser beam.

[0020] In some embodiments, the substrate includes a ceramic substrate. In alternative embodiments, the substrate may include an organic substrate.

[0021] In some embodiments, the optical output of each amplified light beam output by the optical amplifier array is in the range of 10 decibels greater than the optical output of each light beam output by the optical device, and 30 decibels greater than the optical output of each light beam output by the optical device.

[0022] In some embodiments, the LIDAR system includes an optical device configured to receive multiple amplified light beams traveling along a second axis of a substrate and to collimate the multiple amplified light beams to generate multiple sighted light beams. The LIDAR system also includes a LIDAR scanner configured to transmit the multiple sighted light beams to the surrounding environment and to receive multiple return light beams from the surrounding environment.

[0023] In some embodiments, the LIDAR system includes a first optical device located between the optical device and the optical amplifier array along the first axis of the substrate. The LIDAR system also includes a second optical device located between the optical amplifier array and the transceiver along the first axis of the substrate. In some embodiments, at least one of the first or second optical devices may include a lens array having one or more collimating lenses and one or more focusing lenses.

[0024] In another exemplary embodiment of the present disclosure, an autonomous vehicle control system is provided. The autonomous vehicle control system includes a LiDAR system. The LiDAR system includes a substrate and a substrate-coupled emitter. The emitter is configured to emit a light beam along a first axis of the substrate. The LiDAR system includes an optical device coupled to the substrate. The optical device is configured to split the light beam into a plurality of light beams. The LiDAR system includes an optical amplifier array coupled to the substrate. The optical amplifier array is configured to amplify the plurality of light beams received from the optical device to produce a plurality of amplified light beams. The LiDAR system includes a transceiver coupled to the substrate. The transceiver is configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to a second axis of the substrate that is different from the first axis.

[0025] In another exemplary embodiment of the present disclosure, an autonomous vehicle is provided. The autonomous vehicle includes a LIDAR system. The LIDAR system includes a substrate and an emitter coupled to the substrate. The emitter is configured to emit a beam of light along a first axis of the substrate. The LIDAR system includes an optical device coupled to the substrate. The optical device is configured to split the beam of light into a plurality of beams of light. The LIDAR system includes an optical amplifier array coupled to the substrate. The optical amplifier array is configured to amplify the plurality of beams of light received from the optical device to produce a plurality of amplified beams of light. The LIDAR system includes a transceiver coupled to the substrate. The transceiver is configured to redirect the plurality of amplified beams of light from traveling along a first axis of the substrate to a second axis of the substrate that is different from the first axis.

[0026] Another exemplary aspect of the present disclosure relates to other systems, methods, vehicles, apparatus, physical (tangible) non-transient computer-readable media and devices for predicting and / or operating apparatus including a LIDAR system having a LIDAR module by exemplary aspect of the present disclosure.

[0027] These features, aspects, and advantages of the various embodiments of the present disclosure will be better understood by reference to the following description and the appended claims. The accompanying drawings, which are included herein and form a part of this specification, illustrate embodiments of the present disclosure and serve to explain the related principles in conjunction with the description.

Brief Description of the Drawings

[0028] [Figure 1] A block diagram of an exemplary system according to some embodiments of the present disclosure is shown.

[0029] [Figure 2] A block diagram of an exemplary LIDAR system according to some embodiments of the present disclosure is shown.

[0030] [Figure 3] An LIDAR module of an exemplary LIDAR system according to some embodiments of the present disclosure is shown.

[0031] [Figure 4] An exemplary LIDAR system that transmits a light beam to the surrounding environment according to some embodiments of the present disclosure is shown.

[0032] <00QQ112> [Figure 5] An exemplary LIDAR system that receives a return light beam from the surrounding environment according to some embodiments of the present disclosure is shown.

[0033] [Figure 6] A side view of an LIDAR module of an LIDAR system according to some embodiments of the present disclosure is shown. [[ID=TO]] <00QQ121> [Figure 7] A partial side view of the LIDAR module shown in FIG. 6 is shown to explain the edge coupling between the optical device and the optical amplifier array, and between the transceiver and the optical amplifier array according to some embodiments of the present disclosure.

[0035] [Figure 8] This shows a side view of a LiDAR module of a LiDAR system according to some embodiments of this disclosure.

[0036] [Figure 9] This shows a side view of a LiDAR module of a LiDAR system according to some embodiments of this disclosure. [Modes for carrying out the invention]

[0037] The technologies of this disclosure will be described below, for illustrative purposes only, within the context of autonomous vehicles. As described herein, the technologies are not limited to autonomous vehicles and can be implemented in various devices as well as other robots and computing systems. For example, the systems and methods disclosed herein can be implemented in a variety of ways, including but not limited to computer implementation methods, autonomous vehicle systems, autonomous vehicle control systems, robot platform systems, general robotic device control systems, and computing devices.

[0038] Exceptional embodiments of the present disclosure will be described in detail with reference to Figures 1 to 9. Figure 1 shows a block diagram of an exemplary autonomous vehicle control system 100 for an autonomous vehicle according to some embodiments of the present disclosure. The autonomous vehicle control system 100 can be implemented by the computing system of the autonomous vehicle. The autonomous vehicle control system 100 may include one or more sub-control systems 101 that operate to acquire input from sensors 102 or other input devices of the autonomous vehicle control system 100. In some embodiments, the sub-control systems 101 may further acquire platform data 108 (e.g., map data 110) from local or remote storage. The sub-control systems 101 may generate control outputs for controlling the autonomous vehicle based on sensor data 104, map data 110, or other data (e.g., via a platform control device 112, etc.). The autonomous vehicle control system 100 may include various subsystems for performing various autonomous operations. The subsystems may include a position estimation system 130, a perception system 140, a planning system 150, and a control system 160. The position estimation system 130 can determine the position of the autonomous vehicle in the environment, the recognition system 140 can detect, classify, and track objects and actors in the environment, the planning system 150 can determine the trajectory of the autonomous vehicle, and the control system 160 can convert the trajectory into vehicle control actions for controlling the autonomous vehicle. The sub-control system 101 can be implemented by one or more onboard computing systems. The subsystem may include one or more processors and one or more memory devices. The one or more memory devices can store instructions executable by one or more processors so that one or more processors can perform operations or functions related to the subsystem. The computing resources of the sub-control system 101 may be shared among its subsystems, or each subsystem may have its own set of computing resources.

[0039] In some embodiments, the autonomous vehicle control system 100 can be implemented for or by an autonomous vehicle (e.g., a ground-based autonomous vehicle). The autonomous vehicle control system 100 can perform various processing techniques on inputs (e.g., sensor data 104, map data 110) to recognize and understand the vehicle's surrounding environment and to generate an appropriate set of control outputs for implementing a vehicle action plan (e.g., including one or more trajectories) to traverse the vehicle's surrounding environment. In some embodiments, an autonomous vehicle implementing the autonomous vehicle control system 100 can drive, move, operate, etc. with minimal or no interaction with a human operator (e.g., driver, pilot, etc.).

[0040] In some embodiments, an autonomous vehicle may be configured to operate in multiple operating modes. For example, an autonomous vehicle may be configured to operate in a fully autonomous (e.g., autonomous driving) operating mode in which the autonomous driving platform can be controlled without user input (e.g., it can drive and move without input from a human operator present in or remotely from the autonomous vehicle). An autonomous vehicle may operate in a semi-autonomous driving operating mode in which the autonomous vehicle can be operated with some input from a human operator present in the autonomous vehicle (or a human operator remote from the autonomous driving platform). In some embodiments, an autonomous vehicle may enter a manual operating mode in which the autonomous vehicle can be fully controlled by a human operator (e.g., a human driver) and autonomous movement (e.g., autonomous driving) can be prohibited or deactivated (e.g., temporarily, permanently, etc.). An autonomous vehicle may be configured to operate in other modes (e.g., used between operations such as movement / service provision standby, charging, etc.), such as parking mode or sleep mode. In some embodiments, autonomous vehicles can implement vehicle operation support technologies (e.g., collision mitigation systems, power-assisted steering, etc.) to assist a human operator of an autonomous driving platform (e.g., during manual mode, etc.).

[0041] The autonomous vehicle control system 100 may be installed onboard the autonomous vehicle (e.g., on or inside the autonomous vehicle) and may be configured to operate the autonomous vehicle in various environments. The environment may be a real environment or a simulated environment. In some embodiments, one or more simulation computing devices may simulate one or more of the following to simulate the operation of the autonomous vehicle control system 100: sensors 102, sensor data 104, communication interface 106, platform data 108, or platform control device 112.

[0042] In some embodiments, the sub-control system 101 may communicate with one or more networks or other systems via a communication interface 106. The communication interface 106 may include, for example, a transmitter, receiver, port, controller, antenna, or any other suitable component that can easily support communication, and may include any component suitable for interface connection with one or more networks. In some embodiments, the communication interface 106 may include multiple components (e.g., antenna, transmitter, or receiver) that enable the implementation and use of various communication technologies (e.g., multi-input, multi-output (MIMO) technology).

[0043] In some embodiments, the sub-control system 101 may communicate with one or more remote computing devices from the autonomous vehicle via one or more networks using a communication interface 106. For example, in some embodiments, one or more inputs, data, or functions of the sub-control system 101 may be complemented or replaced by a remote system communicating via the communication interface 106. For example, in some embodiments, map data 110 may be downloaded to a remote system via a network using the communication interface 106. In some embodiments, one or more of the position estimation system 130, recognition system 140, planning system 150, or control system 160 may be updated, influenced, nudged, communicated, etc., by a remote system for assistance, maintenance, situational override, management, etc.

[0044] Sensor 102 may be positioned on an autonomous driving platform. In some embodiments, sensor 102 may include one or more types of sensors. For example, one or more sensors may include image capture devices (e.g., visible spectrum cameras, infrared cameras, etc.). Additionally or alternatively, sensor 102 may include one or more depth capture devices. For example, sensor 102 may include one or more LIDAR sensors or radio detection and distance measurement (RADAR) sensors. Sensor 102 may be configured to generate point data describing at least a portion of a 360-degree view of the surrounding environment. The point data may be point cloud data (e.g., 3D LIDAR point cloud data, RADAR point cloud data). In some embodiments, one or more of the sensors 102 for capturing depth information may be fixed to a rotating device to rotate sensor 102 around an axis. While rotating around the axis, sensor 102 can capture data in spaced sector packets describing other portions of a 360-degree view of the surrounding environment of the autonomous driving platform. In some embodiments, one or more of the sensors 102 for capturing depth information may be solid-state.

[0045] Sensor 102 may be configured to capture sensor data 104 that indicates or relates to at least a portion of the environment of the autonomous vehicle. Sensor data 104 may include image data (e.g., 2D camera data, video data, etc.), RADAR data, LIDAR data (e.g., 3D point cloud data, etc.), audio data, or other types of data. In some embodiments, the sub-control system 101 may take input from additional types of sensors such as an inertial measuring unit (IMU), altimeter, inclinometer, odometer, positioning or location device (e.g., GPS, compass), wheel encoder, or other types of sensors. In some embodiments, the sub-control system 101 may take sensor data 104 relating to specific components or systems of the autonomous vehicle. This sensor data 104 may indicate, for example, wheel speed, component temperature, steering angle, cargo or passenger status, etc. In some embodiments, the sub-control system 101 may take sensor data 104 relating to ambient conditions such as environmental or weather conditions. In some embodiments, the sensor data 104 may include multi-modal sensor data. Multimodal sensor data can be acquired by at least two different types of sensors (e.g., sensor 102) and can represent static and / or dynamic objects or actors in the environment of the autonomous vehicle. Multimodal sensor data may include at least two types of sensor data (e.g., camera and LIDAR data). In some embodiments, the autonomous vehicle can utilize sensor data 104 for sensors located remotely from the autonomous vehicle (e.g., off-board). This may include, for example, sensor data 104 captured by another autonomous vehicle.

[0046] The sub-control system 101 may acquire map data 110 related to the environment in which the autonomous vehicle was located, its current location, or the environment in which it will be located in the future. The map data 110 may provide information about the environment or geographical area. For example, map data 110 may provide information about the identity and location of various travel routes (e.g., roads), travel route segments (e.g., road segments), buildings or other items or objects (e.g., streetlights, crosswalks, curbs), the location and direction of boundaries or boundary markings (e.g., location and direction of traffic lanes, parking lanes, turning lanes, bicycle lanes, and other lanes), traffic control data (e.g., location and guidance of signs, traffic lights, and other traffic control devices), obstacle information (e.g., temporary or permanent blockages), event data (e.g., road closures / changes in traffic rules due to parades, concerts, sporting events, etc.), nominal vehicle path data (e.g., showing an ideal vehicle path, such as following the center of a particular lane), or any other map data that provides information that helps an autonomous vehicle understand its surrounding environment and its relationships. In some embodiments, map data 110 may include high-resolution map information. Additionally or alternatively, map data 110 may include rare map data (e.g., lane graphs). In some embodiments, the sensor data 104 can be fused with the map data 110 or used to update the map data 110 in real time.

[0047] The sub-control system 101 may include a position estimation system 130 that can provide the autonomous vehicle with an understanding of its position and orientation in the environment. In some examples, the position estimation system 130 can support one or more other subsystems of the sub-control system 101 by, for example, providing an integrated local reference frame for performing recognition, planning, or control actions.

[0048] In some embodiments, the position estimation system 130 can determine the current position of the autonomous vehicle. The current position may include an absolute position (Global Position) (e.g., a position relative to a geographic reference anchor, etc.) or a relative position (e.g., a position relative to an object in the environment, etc.). The position estimation system 130 may generally include or interface with any device or circuit for analyzing the position or change in position of the autonomous vehicle. For example, the position estimation system 130 may determine its position by using one or more of the following: inertial sensors (e.g., inertial measuring devices), satellite position estimation systems, radio receivers, networking devices (e.g., based on IP addresses, etc.), network access points or other network components (e.g., cellular towers, Wi-Fi access points, etc.), or other suitable techniques. The position of the autonomous vehicle may be used by various subsystems of the sub-control system 101 and may be provided to a remote computing system (e.g., using a communication interface 106).

[0049] In some embodiments, the position estimation system 130 can register the relative positions of elements in the surrounding environment of the autonomous vehicle along with the positions recorded in the map data 110. For example, the position estimation system 130 can process sensor data 104 (e.g., LIDAR data, RADAR data, camera data, etc.) for alignment or other registration on a map of the surrounding environment (e.g., from the map data 110) to determine the position of the autonomous vehicle in that environment. Thus, in some embodiments, the autonomous vehicle can identify its position in the surrounding environment (e.g., across six axes, etc.) based on a lookup of the map data 110. In some embodiments, given an initial position, the position estimation system 130 can update the position of the autonomous vehicle by performing incremental realignment based on deviations recorded or estimated from the initial position. In some embodiments, the position can be registered directly in the map data 110.

[0050] In some embodiments, the map data 110 may include a large amount of data subdivided into geographic tiles so that a desired area of ​​the map stored in the map data 110 can be reconstructed from one or more tiles. For example, multiple tiles selected from the map data 110 may be stitched together by a sub-control system 101 based on locations obtained by a location estimation system 130 (e.g., multiple tiles selected near a location).

[0051] In some embodiments, the position estimation system 130 may determine the position (e.g., relative or absolute position) of one or more attachments or accessories relative to the autonomous vehicle. For example, the autonomous vehicle may be associated with a cargo platform, and the position estimation system 130 may provide the position of one or more points on the cargo platform. For example, the cargo platform may include a trailer or other device towed, or otherwise attached to or operated by the autonomous vehicle, and the position estimation system 130 may provide data describing the position (e.g., absolute, relative position, etc.) of the autonomous vehicle as well as the cargo platform. This information can be obtained by other autonomous driving systems to assist the operation of the autonomous vehicle.

[0052] The sub-control system 101 may include a recognition system 140 that enables the autonomous driving platform to detect, classify, and track objects and actors in the environment. Environmental features or objects recognized in the environment may be those that are within the field of view of sensor 102 or that are expected to be hidden from sensor 102. This may include objects that are not moving or are not expected to move (static objects) and objects that are moving or are expected to move (dynamic objects / actors).

[0053] The recognition system 140 may determine one or more states (e.g., current or past states) of one or more objects in the surrounding environment of an autonomous vehicle. For example, a state may describe the current or past position (also called position) of an object (e.g., for a given time, period, etc.), current or past speed / velocity, current or past acceleration, current or past direction of travel, current or past direction, size / footprint (represented by, for example, boundary shape, object highlighting, etc.), classification (e.g., pedestrian class vs. vehicle class vs. bicycle class), associated uncertainty, or estimates of other state information. In some embodiments, the recognition system 140 may determine states using one or more algorithms or machine learning models configured to identify / classify objects based on input from sensors 102. The recognition system may use various forms of sensor data 104 to generate representations of the environment that are processed by one or more algorithms or machine learning models. In some embodiments, the state of one or more identified or unidentified objects can be maintained and updated over time as the autonomous vehicle continues to recognize the objects and interact with them (e.g., start, make concessions, etc., with or around the objects). In this way, the recognition system 140 can provide an understanding of the current state of the environment (e.g., the state including objects in the environment) known from a record of the environment's previous state (e.g., the state including movement history with objects in the environment). This information can be useful when the autonomous vehicle plans its actions through the environment.

[0054] The sub-control system 100 may include a planning system 150 that can be configured to determine how the autonomous driving platform interacts with the environment and moves within it. The planning system 150 may determine one or more action plans for the autonomous driving platform. An action plan may include one or more trajectories (e.g., action trajectories) that indicate the path the autonomous vehicle should follow. The trajectories may be of a specific length or time range. The length or time range can be defined by the computational planning range of the planning system 150. An action trajectory may be defined by one or more waypoints (including associated coordinates). The waypoints may be future locations of the autonomous driving platform. Action plans can be continuously generated, updated, and reviewed by the planning system 150.

[0055] The planning system 150 can determine a strategy for the autonomous driving platform. The strategy may be a series of individual decisions made by the autonomous driving platform (e.g., concessions to actors, counter-concessions to actors, merging, lane changes). The strategy can be selected from several potential strategies. The selected strategy may be the lowest-cost strategy determined by one or more cost functions. The cost functions may, for example, evaluate the likelihood of collisions with other actors or objects.

[0056] The planning system 150 may determine a preferred trajectory for executing a strategy. For example, the planning system 150 may obtain one or more trajectories for executing one or more strategies. The planning system 150 may evaluate and rank the trajectories or strategies (e.g., using scores, costs, compensations, constraints, etc.). For example, the planning system 150 may notify the evaluation of candidate trajectories or strategies for the autonomous driving platform using predictive outputs that show the interaction between the autonomous driving platform's trajectory and one or more objects (e.g., proximity, intersections, etc.). In some embodiments, the planning system 150 may use static costs to evaluate the trajectories of the autonomous driving platform (e.g., "avoid lane boundaries," "minimize jerks," etc.). Additionally or alternatively, the planning system 150 may use dynamic costs to evaluate trajectories or strategies for the autonomous driving platform based on predicted outcomes for the current operational scenario (e.g., predicted trajectories or strategies leading to interactions between actors, predicted trajectories or strategies leading to interactions between actors and the autonomous driving platform, etc.). The planning system 150 can rank trajectories based on one or more static costs, one or more dynamic costs, or a combination thereof. The planning system 150 can select an action plan (and corresponding trajectory) based on the ranking of multiple candidate trajectories. In some embodiments, the planning system 150 can select the highest-ranked candidate or the highest-ranked feasible candidate.

[0057] Next, the planning system 150 can verify the selected trajectory for one or more constraints before the trajectory is executed by the autonomous driving platform.

[0058] To assist in action planning decisions, the planning system 150 may be configured to perform predictive functions. The planning system 150 can predict future states of the environment. This may include predicting future states of other actors in the environment. In some embodiments, the planning system 150 can predict future states based on current or past states (e.g., states developed or maintained by the perception system 140). In some embodiments, future states may be or include predicted trajectories (e.g., positions over time) of objects in the environment, such as other actors. In some embodiments, one or more of the future states may include one or more probabilities associated with them (e.g., marginal probabilities, conditional probabilities). For example, one or more probabilities may include one or more probabilities conditioned on the strategy or trajectory options available to the autonomous vehicle. Additionally or alternatively, probabilities may include probabilities conditioned on the trajectory options available to one or more other actors.

[0059] To implement the selected action plan, the sub-control system 101 may include a control system 160 (e.g., a vehicle control system). Generally, the control system 160 may provide an interface between the sub-control system 101 and the platform control device 112 to implement the strategy and action plan generated by the planning system 150. For example, the control system 160 can implement the selected action plan / trajectory to control the operation of the autonomous driving platform through the environment by following the selected trajectory (e.g., the trajectory includes waypoints). For example, the control system 160 can translate the action plan into commands to the appropriate platform control device 112 (e.g., acceleration control, brake control, steering control, etc.). For example, the control system 160 can translate the selected action plan into commands such as adjusting steering components (e.g., steering angle) by a specific number, applying a braking force of a specific size, or increasing / decreasing speed. In some embodiments, the control system 160 may communicate with the platform control unit 112 via a communication channel that includes, for example, one or more data buses (e.g., a controller area network (CAN)), an onboard diagnostic connector (e.g., OBD-II), or a combination of wired or wireless links. The platform control unit 112 may send or receive data, messages, signals, etc., to or from the sub-control system 101 or the autonomous system via the communication channel (and vice versa).

[0060] The sub-control system 101 may receive support signals from the remote support system 170 via the communication interface 106. The remote support system 170 may communicate with the sub-control system 101 via a network. In some embodiments, the sub-control system 101 may initiate a communication session with the remote support system 170. For example, the sub-control system 101 may initiate a session based on or in response to a trigger. In some embodiments, the trigger may be a warning, error signal, map function, request, location, traffic condition, road condition, etc.

[0061] After the session has started, the sub-control system 101 may provide context data to the remote assistance system 170. The context data may include sensor data 104 and autonomous vehicle status data. For example, the context data may include live camera feeds from the autonomous vehicle's cameras and the autonomous vehicle's current speed. The operator of the remote assistance system 170 (e.g., a human operator) can use the context data to select assistance signals. The assistance signals may provide values ​​or adjustments for various operating parameters or characteristics of the sub-control system 101. For example, assistance signals may include waypoints (e.g., obstacle routing, lane changes), speed or acceleration profiles (e.g., speed limits), instructions for relative operation (e.g., convoy formation), operating characteristics (e.g., use of auxiliary systems, reduction of energy processing modes), or other signals to assist the sub-control system 101.

[0062] The sub-control system 101 can use support signals input to one or more autonomous subsystems to perform autonomous functions. For example, the planning system 150 may receive support signals as input for generating an action plan. For example, the support signals may include constraints for generating the action plan. Additionally or alternatively, the support signals may include costs or compensatory adjustments to influence the action plan by the planning system 150. Additionally or alternatively, the support signals may be considered as a suggestive input that can be additionally taken into account by the sub-control system 101 in addition to other received data (e.g., sensor inputs).

[0063] The sub-control system 101 may be platform-independent, and the control system 160 may provide control commands to the platform control device 112 for various platforms for autonomous movement (e.g., multiple different autonomous driving platforms to which the autonomous control system is installed). This may operate in various different environments and, in some embodiments, may include various different types of autonomous driving vehicles from various different manufacturers / developers providing one or more vehicle services (e.g., sedans, vans, SUVs, trucks, electric vehicles, combustion-powered vehicles, etc.).

[0064] Referring to Figures 2 to 5, an exemplary embodiment of the present disclosure provides a LiDAR system 200. The LiDAR system 200 includes a LiDAR module 210. The LiDAR module 210 includes a substrate 212 defining a first axis 300 (e.g., a longitudinal axis), a second axis 302 (e.g., a vertical axis), and a third axis 304 (e.g., a transverse axis). It will be understood that the first axis 300, the second axis 302, and the third axis 304 can be orthogonal to each other.

[0065] In some embodiments, the substrate 212 may be a ceramic substrate. For example, in some embodiments, the ceramic substrate may be formed from aluminum nitride (AlN). It will be understood that the scope of this disclosure is intended to include ceramic substrates formed from any suitable ceramic material. For example, in some embodiments, the ceramic substrate may be formed from aluminum oxide (Al2O3).

[0066] In some embodiments, the substrate 212 may be an organic substrate formed from an organic material. For example, the organic material may include organic molecules or polymers. It will be understood that organic substrates may have better manufacturing tolerances compared to ceramic substrates.

[0067] The LIDAR module 210 may include an emitter 214 coupled to a substrate 212. The emitter 214 may include a light source (not shown) configured to emit a light beam 310 along a first axis 300 (Figure 3) of the substrate 212. In some embodiments, the light source may include a laser light source (e.g., a seed laser), and the light beam 310 may include a laser beam. For example, in some embodiments, the laser light source may include one or more distributed feedback lasers (DFBs).

[0068] The LIDAR module 210 may include an optical device 216 coupled to the substrate 212. The optical device 216 may be configured to receive a light beam 310 from the emitter 214. The optical device 216 may be configured to split the light beam 310 into a plurality of light beams 312. For example, in some embodiments, the optical device 216 may include a splitter configured to split the light beam 310 into a plurality of light beams 312. It will be understood that the optical device 216 may be configured to split the light beam 310 into any appropriate number of light beams 312. For example, in some embodiments, the optical device 216 may be configured to split the light beam 310 into eight separate light beams. In other embodiments, the optical device 216 may be configured to split the light beam 310 into a larger number of light beams (e.g., 16, 32, 64, etc.) or a smaller number of light beams (e.g., four, etc.). It will be understood that the optical output of each of the multiple optical beams 312 output by the splitter is lower than the optical output of the optical beam 310 received from the emitter 214.

[0069] It will also be understood that the optical device 216 may include any suitable optical device configured to receive the light beam 310 and split the light beam 310 into a plurality of light beams 312. For example, in some embodiments, the optical device 216 may include an electro-optical device configured to split the light beam 310 into a plurality of light beams 312. In alternative embodiments, the optical device 216 may include one or more optical devices configured to split the light beam 310 into a plurality of light beams 312.

[0070] The LIDAR module 210 may include an optical amplifier array 218 coupled to the substrate 212. The optical amplifier array 218 may be configured to receive a plurality of optical beams 312 from the optical device 216. The optical amplifier array 218 may be further configured to amplify the plurality of optical beams 312 to produce a plurality of amplified optical beams 314. In this way, the optical output of the amplified optical beams 314 may be higher than the optical output of the plurality of optical beams 312. For example, in some embodiments, the optical output of the amplified optical beams 314 may range from 10 decibels higher than the optical output of the plurality of optical beams 312 to 30 decibels higher than the optical output of the plurality of optical beams 312.

[0071] In some embodiments, it will be understood that the optical amplifier array 218 may include a semiconductor optical amplifier array. The semiconductor optical amplifier array may be coupled to the substrate 212 and may be configured to amplify a plurality of optical beams 312 to produce a plurality of amplified optical beams 314.

[0072] The LIDAR module 210 may include a transceiver 220 coupled to the substrate 212. The transceiver 220 may be configured to receive a plurality of amplified optical beams 314 from the optical amplifier array 218. The transceiver 220 may be further configured to redirect the plurality of amplified optical beams 314. In some embodiments, the transceiver 220 may be configured to redirect the plurality of amplified optical beams 314 from traveling along a first axis 300 (Figure 3) of the substrate 212 to travel along a second axis 302 of the substrate 212. For example, the transceiver 220 may include an edge grating coupler 222 configured to direct the plurality of amplified optical beams 314 traveling along the first axis 300 of the substrate 212 to travel along the second axis 302 of the substrate 212.

[0073] It will be understood that the edge grating coupler 222 may include any suitable grating coupler configured to redirect multiple amplified light beams 314 from traveling along the first axis 300 to traveling along the second axis 302. For example, in some embodiments, the edge grating coupler 222 may include a surface grating coupler configured to redirect multiple amplified light beams 314 from traveling along the first axis 300 to traveling along the second axis 302.

[0074] It will be understood that the transceiver 220 may include any suitable transceiver configured to redirect multiple amplified optical beams 314 from traveling along the first axis 300 to traveling along the second axis 302. For example, in some embodiments, the transceiver 220 may be a silicon photonic transceiver.

[0075] In some embodiments, the LIDAR system 200 may include one or more optical devices 230 separated from the LIDAR module 210. The optical devices 230 may be configured to receive a plurality of amplified light beams 314 from the transceiver 220. More specifically, the optical devices 230 may be configured to receive a plurality of amplified light beams 314 traveling along a second axis 302 of the substrate 212. In some embodiments, the optical devices 230 may also be configured to sight the plurality of amplified light beams 314 along one or more axes to generate a plurality of sighted light beams 316.

[0076] In some embodiments, the LIDAR system 200 may include a LIDAR scanner 240 configured to receive a plurality of sighted light beams 316 from an optical device 230. The LIDAR scanner 240 may be configured to transmit the plurality of sighted light beams 316 to the surrounding environment. It will be understood that the plurality of sighted light beams 316 are reflected from one or more objects 318 in the surrounding environment and return to the LIDAR scanner 240 as a plurality of return light beams 320.

[0077] The LIDAR scanner 240 may be configured to provide multiple return light beams 320 to the LIDAR module 210. In some embodiments, the return light beams 320 may be provided to the LIDAR module 210 via an optical device 230. For example, the optical device 230 may receive multiple return light beams 320 from the LIDAR scanner 240. The optical device 230 may also be configured to sight the return light beams 320 along one or more axes to generate multiple sighted return light beams 322. In an alternative embodiment, the return light beams 320 received by the LIDAR scanner 240 may bypass the optical device 230 and be provided directly to the LIDAR module 210 instead.

[0078] The transceiver 220 may be configured to redirect multiple sighted return light beams 322 from traveling along the second axis 302 (Figure 3) of the substrate 212 to traveling along the first axis 300 (Figure 3) of the substrate 212. In some embodiments, the transceiver 220 may include a detector 224 configured to convert the multiple sighted return light beams 322 into multiple electrical signals 324.

[0079] In some embodiments, the LIDAR module 210 may include an amplifier 250 (e.g., a transimpedance amplifier) ​​configured to receive a plurality of electrical signals 324 output by a detector 224 of a transceiver 220. The amplifier 250 may be configured to amplify the plurality of electrical signals 324 to produce a plurality of amplified electrical signals 326. In some embodiments, the amplifier 250 may be coupled to the surface of the transceiver 220. For example, in some embodiments, the amplifier 250 can be bonded (e.g., flip-chip bonding) to the surface of the transceiver 220.

[0080] In some embodiments, the LIDAR module 210 may include a processing circuit 260 coupled to the substrate 212. The processing circuit 260 may be configured to receive a plurality of amplified electrical signals 326. The processing circuit 260 may be further configured to process the plurality of amplified electrical signals 326 to generate point cloud data representing the surrounding environment. The processing circuit 260 may also be configured, at least in part, to determine one or more features (e.g., size, shape, etc.) of objects 318 in the surrounding environment based on the point cloud data.

[0081] In some embodiments, the processing circuit 260 may include a field-programmable gate array (FPGA). In other embodiments, the processing circuit 260 may include a digital signal processor (DSP). However, it will be understood that the processing circuit 260 may include any suitable electronic components (e.g., analog-to-digital converters) necessary to perform the processing of the multiple amplified electrical signals 326.

[0082] Referring to Figures 6 and 7, side views of the LIDAR module 210 are provided by some embodiments of the present disclosure. As shown, the emitter 214 may include one or more light sources 400. In some embodiments, the emitter 214 may include an optical isolator 402. The optical isolator 402 may be configured to protect the light sources 400 from unwanted feedback light. Additionally or alternatively, the emitter 214 may include a pre-amplifier 404. The pre-amplifier 404 may be configured to amplify the light beam emitted from the light sources 400. In this way, the optical output of the light beam can be increased before being supplied to the optical device 216.

[0083] In some embodiments, the light source 400 and preamplifier 404 may be mounted on separate submounts 406, 408. It will be understood that the height of the submounts 406, 408 is sufficient to align the light source 400 and preamplifier 404 with the optical device 216, optical amplifier array 218 and transceiver 220 along the second axis 302 (e.g., the vertical axis) of the substrate 212. For example, in some embodiments, the height H of the submounts 406, 408 may be in the range of about 100 microns to about 1000 microns. As used herein, the term “about” with a number refers to a range of values ​​within 10% of the expressed number.

[0084] In some embodiments, the submount 406 on which the light source 400 is located may be configured to provide electrical connections for the light source 400. Additionally or alternatively, the submount 408 on which the preamplifier 404 is located may be configured to provide electrical connections for the preamplifier 404.

[0085] In some embodiments, the emitter 214 may include a first optical device 410, a second optical device 412, and a third optical device 414. The first optical device 410 may be located between the light source 400 and the optical isolator 402 along the first axis 300 of the substrate 212. The second optical device 412 may be located between the optical isolator 402 and the preamplifier 404 along the first axis 300 of the substrate 212. The third optical device 414 may be located between the preamplifier 404 and the optical device 216 along the first axis 300 of the substrate 212. It will be understood that the first optical device 410, the second optical device 412, and the third optical device 414 help to sight and / or focus the light beam emitted from the light source 400. In some embodiments, the first optical device 410 may include a sighting lens, the second optical device 412 may include a focusing lens, and the third optical device 414 may include a lens array comprising one or more sighting lenses and one or more focusing lenses.

[0086] As illustrated, the emitter 214, optical device 216, optical amplifier array 218, transceiver 220, and processing circuit 260 may be separately coupled to the first surface 420 of the substrate 212. In some embodiments, the LIDAR module 210 may also include a heat spreader 430 coupled to the first surface 420 of the substrate 212. As illustrated, in some embodiments, the heat spreader 430 may enclose the emitter 214, optical device 216, optical amplifier array 218, transceiver 220, and processing circuit 260 within a cavity 432 defined by the heat spreader 430. In other embodiments, one or more of the emitter 214, optical device 216, optical amplifier array 218, transceiver 220, and processing circuit 260 may be located outside the cavity 432 defined by the heat spreader 430.

[0087] The heat spreader 430 may be configured to facilitate heat transfer from the optical amplifier array 218 to the heat spreader 430. In this way, the heat generated by the optical amplifier array 218 during the amplification of multiple light beams 312 (Figure 4) received from the optical device 216 can be dissipated by the heat spreader 430. In some embodiments, the heat spreader 430 may include a projection 434 that extends the length of the optical amplifier array 218. In this way, heat transfer from the optical amplifier array 218 to the heat spreader 430 can be improved.

[0088] In some embodiments, the LIDAR module 210 may include a submount 440 configured to support an optical amplifier array 218. In some embodiments, the submount 440 may include a number of vias (shown by black lines) configured to electrically couple the optical amplifier array 218 to the substrate 212. For example, in some embodiments, the number of vias included in the submount 440 may correspond to the number of channels in the optical amplifier array 218. It will be understood that each of the multiple optical beams 312 (Figure 4) that the optical amplifier array 218 receives from the optical device 216 represents a different channel of the optical amplifier array 218.

[0089] In some embodiments, the submount 440 can facilitate heat transfer from the optical amplifier array 218 to the substrate 212. In this way, the heat generated by the optical amplifier array 218 during the amplification of multiple light beams 312 (Figure 4) received from the optical device 216 can be dissipated by the submount 440.

[0090] In some embodiments, the LIDAR module 210 can be cooled by other components of the LIDAR system 200 (Figure 2). For example, in some embodiments, a liquid-cooled cooling plate (not shown) may be coupled to a heat spreader 430. In this way, heat transferred from the optical amplifier array 218 to the heat spreader 430 can be further transferred to the liquid-cooled cooling plate. Additionally or alternatively, the liquid-cooled cooling plate may be coupled to a second surface 422 of the substrate 212. In this way, heat transferred from the optical amplifier array 218 to the substrate 212 via the submount 440 can be further transferred to the liquid-cooled cooling plate, preventing the substrate 212 from overheating and affecting the performance of other components of the LIDAR module 210 coupled to the substrate 212 (e.g., processing circuit 260).

[0091] It will be understood that any suitable device can be used to provide additional cooling for the LIDAR module 210. For example, in some embodiments, a fan (not shown) may be configured to direct air across one or more surfaces of the heat spreader 430. Additionally or alternatively, a fan may be configured to direct air across one or more surfaces of the substrate 212.

[0092] As shown in Figures 6 and 7, the substrate 212 can define an aperture 450 that extends through the substrate in some embodiments. For example, a particular portion of the substrate 212 can define an aperture 450 that extends from a first surface 420 of the substrate 212 to a second surface 422 of the substrate 212. In such embodiments, the transceiver 220 may be configured to redirect multiple amplified light beams 314 traveling along a first axis 300 of the substrate 212 to travel along a second axis 302 of the substrate 212, thereby directing the multiple amplified light beams 314 (Figure 4) through the aperture 450 defined in the substrate 212. It will be understood that the sighted return light beam 322 (Figure 5) travels through the aperture 450 and can be redirected by the transceiver 220. For example, the transceiver 220 may be configured to redirect multiple sighted return light beams 322 traveling along the first axis 300 of the substrate 212 from traveling along the second axis 302 of the substrate 212. In this way, multiple sighted return light beams 322 are converted into multiple electrical signals 324 by the detector 224 of the transceiver 220 and supplied to the amplifier 250, thereby generating multiple amplified electrical signals 326 (Figure 5), which can then be processed by the post-processing circuit 260.

[0093] In some embodiments, the LIDAR module 210 may include an optical window 460 coupled to a second surface 422 of the substrate 212. For example, in some embodiments, the optical window 460 can be brazed to the second surface 422 of the substrate 212. Alternatively, the optical window 460 can be aligned with the aperture 450, similar to the transceiver 220. In this way, multiple amplified light beams 314 can exit the aperture 450 through the optical window 460. Similarly, multiple sighted return light beams 322 can enter the aperture 450 through the optical window 460. In some embodiments, the optical window 460 may include a sapphire window.

[0094] In an alternative embodiment, the transceiver 220 can be sealed to the first surface 420 of the substrate 212 so as to cover the opening 450. More specifically, in some embodiments, the transceiver 220 may be sealed to the first surface 420 of the substrate 212 with metal solder or brazing material to create a sealed seal. In an alternative embodiment, the transceiver 220 may be sealed to the first surface 420 of the substrate 212 with epoxy material to create a nearly sealed seal. It will be understood that sealing the transceiver 220 to the first surface 420 of the substrate 212 can eliminate the need for the optical window 460. In this way, sealing between the transceiver 220 and the first surface 420 of the substrate 212 reduces the complexity of the LIDAR module 210 because the optical window 460 is no longer required.

[0095] In some embodiments, the LIDAR module 210 may include an electrical connector 470 configured to electrically couple the components of the LIDAR module 210 (e.g., emitter 214, optical device 216, optical amplifier array 218, transceiver 220, amplifier 250, processing circuit 260) to other electronic components (e.g., a motherboard) that are separated from the LIDAR module 210. For example, in some embodiments, the electrical connector 470 may be located on a first surface 420 of the substrate 212 and located outside the cavity 432 defined by the heat spreader 430, as shown in the figure. In an alternative embodiment, the electrical connector 470 may be located on a second surface 422 of the substrate 212.

[0096] In some embodiments, the optical device 216 may be coupled to the optical amplifier array 218, for example, as shown in Figure 7. In particular, the optical device 216 may be edge-coupled (i.e., butt-coupled). Edge coupling or butt coupling can refer to aligning the optical devices such that the waveguide of one optical device (e.g., optical device) is directed toward the waveguide of the other optical device (e.g., optical amplifier array). In this way, the loss of optical output of the light beam 312 (Figure 4) supplied from the optical device 216 to the optical amplifier array 218 may be minimized or less than a threshold loss level. Also in some embodiments, the optical device 216 may be edge-coupled to the optical amplifier array 218 using epoxy material to further improve the optical coupling between the optical device 216 and the optical amplifier array 218.

[0097] In some embodiments, the optical amplifier array 218 may be edge-coupled to the transceiver 220, for example, as shown in Figure 7. In this way, the loss of optical output of the amplified optical beam 314 (Figure 4) provided from the optical amplifier array 218 to the transceiver 220 may be minimized or less than a threshold loss level. Also in some embodiments, the optical amplifier array 218 may be edge-coupled to the transceiver 220 using epoxy material to further improve the optical coupling between the optical amplifier array 218 and the transceiver 220.

[0098] Referring to Figure 8, a side view of a LIDAR module 210 is provided by some embodiments of this disclosure. It will be understood that the LIDAR module 210 shown in Figure 8 is substantially similar to the LIDAR module 210 described above with reference to Figures 6 and 7. For example, the LIDAR module 210 shown in Figure 8 includes an optical device 216, an optical amplifier array 218, and a transceiver 220. However, unlike the LIDAR module 210 shown in Figures 6 and 7, the optical device 216 is not edge-coupled to the optical amplifier array 218. Also, the optical amplifier array 218 is not edge-coupled to the transceiver 220. Instead, as will be described in more detail below, the LIDAR module 210 includes a dedicated optical device to facilitate optical coupling between these components of the LIDAR module 210.

[0099] As illustrated, the LIDAR module 210 may include a first optical device 500 located between the optical device 216 and the optical amplifier array 218 along the first axis 300 of the substrate 212. The LIDAR module 210 may also include a second optical device 502 located between the optical amplifier array 218 and the transceiver 220 along the first axis 300 of the substrate 212. It will be understood that the optical device 216 is optically coupled to the optical amplifier array 218 by the first optical device 500. It will also be understood that the optical amplifier array 218 is optically coupled to the transceiver 220 by the second optical device 502. In some embodiments, the first optical device 500 may include a first microlens, and the second optical device 502 may include a second microlens. In some embodiments, it will be understood that the first optical device 500, the second optical device 502, or both may include a lens array comprising one or more sighting lenses and one or more focusing lenses.

[0100] As previously mentioned with reference to Figure 7, it will be understood that edge-coupling the optical amplifier array 218 to the optical device 216 and edge-coupling the transceiver 220 to the optical amplifier array 218 has several advantages over using dedicated optical devices (e.g., first optical device 500, second optical device 502) to facilitate optical coupling between these same components. For example, the LIDAR module 210 in Figure 7 has a smaller footprint because it requires fewer components. It will also be understood that edge-coupling the optical amplifier array 218 to the optical device 216 and edge-coupling the transceiver 220 to the optical amplifier array 218 has several disadvantages. For example, the LIDAR module 210 in Figure 7 is more susceptible to bending due to the edge coupling, at least partially. It will be understood that the LIDAR module in Figure 8 is less sensitive to warping because its components are not edge-coupled to one another. However, as mentioned above, the LIDAR module 210 in Figure 8 can be considered more complex than the LIDAR module 210 shown in Figure 7, in that the LIDAR module 210 shown in Figure 8 includes additional components (for example, the first optical device 500 and the second optical device 502).

[0101] Referring now to Figure 9, a side view of a LIDAR module 210 is provided by some embodiments of the present disclosure. It will be found that the LIDAR module 210 shown in Figure 9 is substantially similar to the LIDAR module 210 shown in Figure 6. For example, the LIDAR module 210 shown in Figure 9 includes an optical device 216, an optical amplifier array 218, and a transceiver 220. However, compared to the LIDAR module 210 shown in Figure 6, the substrate 212 of the LIDAR module shown in Figure 9 does not have an aperture. Instead, a heat spreader 430 defines an aperture 600, and the transceiver 220 is configured to redirect multiple amplified optical beams 314 from traveling along a first axis 300 of the substrate 212 to traveling along a second axis 302 of the substrate 212, directing the multiple amplified optical beams 314 through an aperture 600 defined by a specific portion of the heat spreader 430. Furthermore, the optical window 460 may be positioned on the heat spreader 430 such that the optical window 460 aligns with the opening 600 defined by the heat spreader 430.

[0102] It will be understood that the LIDAR module 210 shown in Figure 8 and the LIDAR module 210 shown in Figure 9 are integrated with external electrical components to form a LIDAR system 200 (Figure 2). In this way, both the LIDAR module 210 shown in Figure 8 and the LIDAR module 210 shown in Figure 9 include an electrical connector 470 for easily connecting the components of the LIDAR module 210 to external electrical components. It will be understood that the electrical connections of the LIDAR module 210 in Figure 9 can be simplified compared to the electrical connections of the LIDAR module 210 in Figure 8 because the substrate 212 of the LIDAR module 210 in Figure 9 does not contain any openings. However, it will be understood that the LIDAR module 210 in Figure 9 may have more thermal constraints compared to the LIDAR module 210 in Figure 8 because the heat spreader 430 of the LIDAR module 210 in Figure 9 defines an opening 600.

[0103] The following describes the technologies of this disclosure within the context of autonomous vehicles for illustrative purposes only. As described herein, the technologies of this disclosure are not limited to autonomous driving platforms but can be implemented for or within other autonomous platforms and other computing systems.

Claims

1. A vehicle light detection and distance measurement (LIDAR) system, wherein the LIDAR system is circuit board and An emitter coupled to the substrate and configured to emit a light beam along the first axis of the substrate, An optical device coupled to the substrate and configured to split the light beam into a plurality of light beams, An optical amplifier array bonded to the substrate and configured to amplify the plurality of light beams received from the optical device to generate a plurality of amplified light beams, A LIDAR system including a transceiver coupled to the substrate and configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to traveling along a second axis of the substrate that is different from the first axis.

2. The LIDAR system according to claim 1, wherein the transceiver includes a lattice coupler configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to traveling along the second axis of the substrate.

3. The LIDAR system according to claim 1 or 2, wherein the transceiver is configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to traveling along the second axis of the substrate, and to direct the plurality of amplified light beams through the aperture defined by the particular portion of the substrate.

4. The LIDAR system according to any one of claims 1 to 3, further comprising a heat spreader coupled to the substrate such as to surround the emitter, the optical device, the optical amplifier array, and the transceiver within a cavity defined by the heat spreader.

5. The heat spreader is coupled to the optical amplifier array to facilitate heat transfer from the optical amplifier array to the heat spreader. The heat spreader includes a specific portion that defines an opening, The LIDAR system according to claim 4, wherein the transceiver is configured to redirect the plurality of amplified light beams from traveling along the first axis of the substrate to traveling along the second axis of the substrate, and to direct the plurality of amplified light beams through the aperture defined by the heat spreader.

6. The optical amplifier array is edge-coupled to the optical device, The LIDAR system according to any one of claims 1 to 5, wherein the transceiver is edge-coupled to the optical amplifier array.

7. The emitter, the optical device, the optical amplifier array, and the transceiver are coupled to the first surface of the substrate. The substrate defines an opening that extends through its interior, The transceiver is aligned with the opening, The LIDAR system according to any one of claims 1 to 6, further comprising an optical window coupled to a second surface of the substrate, wherein the optical window is aligned with the opening.

8. The LIDAR system according to any one of claims 1 to 7, wherein the transceiver is bonded to the substrate with an epoxy material, metal solder, or brazing material to create a seal between the substrate and the transceiver.

9. The LiDAR system according to any one of claims 1 to 8, wherein the emitter includes a distributed feedback laser and the light beam includes a laser beam.

10. The LIDAR system according to any one of claims 1 to 9, wherein the optical output of the amplified individual light beams output by the optical amplifier array is in the range of 10 decibels greater than the optical output of the individual light beams output by the optical device to 30 decibels greater than the optical output of the individual light beams output by the optical device.

11. The LIDAR system according to any one of claims 1 to 10, further comprising an optical device configured to receive the plurality of amplified light beams traveling along the second axis of the substrate, and to sight the plurality of amplified light beams to generate a plurality of sighted light beams.

12. The LiDAR system according to claim 11, further comprising a LiDAR scanner configured to transmit the plurality of sighted light beams to the surrounding environment and to receive the plurality of return light beams from the surrounding environment.

13. A first optical device positioned between the optical device and the optical amplifier array along the first axis of the substrate, The present invention further includes a second optical device positioned between the optical amplifier array and the transceiver along the first axis of the substrate, The LIDAR system according to any one of claims 1 to 12, wherein at least one of the first optical device or the second optical device includes a lens array comprising one or more sighting lenses and one or more focusing lenses.

14. An autonomous vehicle control system comprising the light detection and distance measurement (LIDAR) system according to any one of claims 1 to 13.

15. An autonomous vehicle comprising the light detection and distance measurement (LIDAR) system according to any one of claims 1 to 13.

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