Long-range steerable LIDAR system

Abstract

Systems and methods related to light detection and ranging (LIDAR) devices are provided. [Solution] The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to cause the emitted light to travel back and forth about a first axis, and a plurality of detectors configured to sense the light within the wavelength range. The device additionally includes a controller configured to receive target information, where the target information may indicate an object, a position, a location, or an angular range. In response to receiving the target information, the controller may rotate a rotation platform to adjust the aiming direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field of view (FOV) of an environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from the scan of the FOV.

Description

[Technical field]

[0001]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Patent Application No. 14 / 679,683, filed April 6, 2015, which is incorporated herein by reference in its entirety. [Background technology]

[0002]

[0002] Unless otherwise indicated in this specification, the material described in this section is not prior art to the claims of this application and is not admitted as prior art by inclusion in this section.

[0003]

[0003] Vehicles can be configured to operate in an autonomous mode, navigating through an environment with little or no input from a driver. Such autonomous vehicles can include one or more sensors configured to detect information about the environment in which the vehicle operates.

[0004]

[0004] One such sensor is a Light Detection and Ranging (LIDAR) device. LIDAR can estimate distances to environmental features as it scans an entire scene and assembles a "point cloud" that represents reflective surfaces in the environment. Individual points in the point cloud can be determined by transmitting a laser pulse, detecting the returning pulse, if any, that reflects off objects in the environment, and determining the distance to the object in light of the time delay between the transmitted pulse and receiving the reflected pulse. A laser, or set of lasers, can rapidly and repeatedly scan across a scene to provide continuous real-time information on the distance to reflective objects in the scene. Combining the measured distance and the orientation of the laser(s) as each distance is measured allows a three-dimensional position to be associated with each returning pulse. In this way, a three-dimensional map of points can be generated that represents the location of reflective features in the environment for the entire area being scanned. Summary of the Invention [Means for solving the problem]

[0005]

[0005] In a first aspect, an apparatus is provided. The apparatus includes a light detection and ranging (LIDAR) device. The LIDAR device includes a light source configured to emit light within a wavelength range. The light source includes a fiber laser. The LIDAR device also includes a scanning unit configured to move the emitted light back and forth about a first axis, and a plurality of detectors configured to detect light within the wavelength range. The apparatus further includes a housing and a rotating platform configured to rotate about a second axis. At least the scanning unit is disposed within the housing, and a wall of the housing includes an optical filter, and the optical filter is configured to allow light within the wavelength range to propagate therethrough. The apparatus additionally includes a controller configured to receive target information. The target information indicates at least one of an object type, an object size, an object shape, a position, a location, or an angular range. The controller is additionally configured to rotate the rotating platform to adjust a aiming direction of the LIDAR in response to receiving the target information. The controller is further configured to cause the LIDAR to scan a field of view (FOV) of an environment. The FOV extends along a aiming direction away from the LIDAR. The controller is further configured to determine a three-dimensional (3D) representation of the environment based on data from the scan of the FOV.

[0006]

[0006] In a second aspect, a system is provided. The system includes a sensing device configured to provide environmental data indicative of a vehicle and an environment around the vehicle. The sensing device is coupled to the vehicle. The system also includes a light detection and ranging (LIDAR) device. The LIDAR device is coupled to the vehicle. The system further includes a controller configured to receive the environmental data and determine target information based on the environmental data. The target information indicates at least one of an object type, an object size, an object shape, a position, a location, or an angular range. The controller is also configured to rotate the turntable to adjust an aiming direction of the LIDAR based on at least the target information to cause the LIDAR to scan a field of view (FOV) of the environment. The FOV extends along the aiming direction away from the LIDAR. The controller is further configured to determine a three-dimensional (3D) representation of the environment based on data from the scan of the FOV.

[0007]

[0007] In a third aspect, a method is provided. The method includes receiving target information by a controller of a light detection and ranging (LIDAR) device. The target information indicates at least one of an object type, an object size, an object shape, a distance, a location, or an angular range. The method also includes causing a light source of the LIDAR to emit light within a wavelength range. The light source includes a fiber laser. The method further includes causing a scanning portion of the LIDAR to rotate the emitted light back and forth about a first axis and to rotate a rotational platform coupled to the LIDAR to adjust a pointing direction of the LIDAR in response to receiving the target information. The rotational platform is configured to rotate about a second axis. The method still further includes causing the LIDAR to scan a field of view (FOV) of the environment. The FOV extends along the pointing direction away from the LIDAR. The method also includes determining a three-dimensional (3D) representation of the environment based on data from the scan of the FOV.

[0008]

[0008] Other aspects, embodiments, and implementations will become apparent to those skilled in the art from a reading of the following detailed description, with reference, where appropriate, to the accompanying figures. [Brief description of the drawings]

[0009] [Figure 1A] 1 illustrates several views of a vehicle, in accordance with an example embodiment; [Figure 1B]

[0010] 1 illustrates a perspective view of a sensor device, according to an example embodiment. [Figure 1C]

[0011] 1 illustrates a perspective view of a sensor device, according to an example embodiment. [Figure 1D]

[0012] 1 illustrates scanning of the environment surrounding a vehicle, according to an example embodiment. [Figure 1E]

[0013] 1 illustrates scanning of the environment surrounding a vehicle, according to an example embodiment. [Diagram 2]

[0014] 1 illustrates a system in accordance with an example embodiment. [Figure 3A]

[0015] 1 shows a diagram of a LIDAR device, in accordance with an example embodiment. [Figure 3B]

[0016] 1 shows a diagram of a LIDAR device, in accordance with an example embodiment. [Figure 4A]

[0017] 1 illustrates a cross-sectional view of a LIDAR device, in accordance with an example embodiment. [Figure 4B]

[0018] 1 illustrates a cross-sectional view of a LIDAR device, in accordance with an example embodiment. [Diagram 5]

[0019] 1 illustrates a representation of a scene, according to an example embodiment. [Figure 6]

[0020] 1 illustrates a representation of a scene, according to an example embodiment. [Figure 7]

[0021] 1 illustrates a representation of a scene, according to an example embodiment. [Figure 8]

[0022] 1 illustrates a vehicle traveling in an environment including one or more objects, according to an example embodiment. [Figure 9]

[0023] 1 illustrates a block diagram of a vehicle, in accordance with an example embodiment. [Figure 10]

[0024] 1 illustrates a computer-readable medium configured in accordance with an example embodiment. [Figure 11]

[0025] 1 illustrates a method in accordance with an example embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010]

[0026] In the following detailed description, reference is made to the accompanying drawings, which form a part of this specification. In the drawings, like symbols typically identify like components unless otherwise indicated. The exemplary embodiments described in the detailed description, the figures, and the claims are not intended to be limiting. Other embodiments may be utilized, and other changes may be made without departing from the scope of the subject matter presented herein. It will be readily understood that aspects of the present disclosure, as broadly described herein and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a variety of different configurations, all of which are expressly contemplated herein.

[0011] overview

[0027] A vehicle may include multiple sensors configured to sense various aspects of the environment around the vehicle. For example, a vehicle may include multiple LIDAR devices with different fields of view, distances, and / or purposes. In one example, the LIDAR device may include a single beam of narrow laser beam spread. The laser beam spread may be approximately 0.1°×0.03° resolution, although other beam resolutions are possible. The LIDAR system may be mounted on the roof of the vehicle, although other mounting locations are possible.

[0012]

[0028] The laser beam may be steerable through 360° about a vertical axis extending through the vehicle. For example, the LIDAR system may be mounted with a rotational bearing configured to allow the LIDAR system to rotate about the vertical axis. A stepper motor may be configured to control the rotation of the LIDAR system. Additionally, the laser beam may be steered about a horizontal axis to move the beam up and down. For example, a portion of the LIDAR system, e.g., various optics, may be spring-coupled to the LIDAR system mount. The various optics may be moved about the horizontal axis to steer the laser beam up and down. The spring may include a resonant frequency. The resonant frequency may be about 140 Hz. Alternatively, the resonant frequency may be another frequency. The laser beam may be steered using a combination of mirrors, motors, springs, magnets, lenses, and / or other known means for steering a light beam.

[0013]

[0029] The laser may be a fiber laser producing laser light at 1550 nm, although other wavelengths are possible. Furthermore, the pulse repetition rate of the LIDAR light source may be 4 Hz. The effective range of such a LIDAR system may be 300 meters or more.

[0014]

[0030] The laser beam may be steered by the vehicle's control system or a control system associated with the LIDAR system. For example, in response to a vehicle approaching an intersection, the LIDAR system may scan for oncoming traffic on the left and on the right. Other sensing scenarios are also possible.

[0015]

[0031] In example embodiments, the LIDAR system may be steered to identify a particular object. For example, the LIDAR system may be operable to identify a shoulder or other part of a pedestrian. In another example, the LIDAR system may be operable to identify a bicycle wheel.

[0016]

[0032] The LIDAR system described herein may operate in conjunction with other sensors on a vehicle. For example, the LIDAR system may be used to identify specific objects in a particular situation. Target information may be determined based on data from any one or combination of other sensors associated with the vehicle.

[0017]

[0033] As a specific example, a generic LIDAR system may provide data related to, for example, an automobile passing on the right side of a vehicle. The controller may determine target information based on the data from the generic LIDAR system. Based on the target information, the controller may cause a LIDAR system disclosed herein to scan the particular passing automobile at a higher resolution and / or a higher pulse repetition rate to evaluate the target object.

[0018]

[0034] The embodiments disclosed herein may be used on any type of vehicle, including conventional automobiles and automobiles with autonomous driving modes, but the term "vehicle" should be interpreted broadly to include any moving object, including, for example, a truck, a wagon, a semi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, a warehouse transport vehicle, or an agricultural work vehicle, and a tracked conveyance such as a roller coaster, a streetcar, a tram, or a train car, among other examples.

[0019] System Example

[0035] FIG. 1A illustrates a vehicle 100 according to an example embodiment. Specifically, FIG. 1A illustrates a right side view, a front view, a rear view, and a top view of the vehicle 100. The vehicle 100 is illustrated in FIG. 1A as an automobile, however, as previously mentioned, other embodiments are possible. Additionally, although the example vehicle 100 is illustrated as a vehicle that may be configured to run in an autonomous mode, the embodiments described herein are also applicable to vehicles that are not configured to run autonomously. Thus, the example vehicle 100 is not intended to be limiting. As illustrated, the vehicle 100 includes five sensor devices 102, 104, 106, 108, and 110, and four wheels, exemplified by wheel 112.

[0020]

[0036] In keeping with the foregoing description, each of sensor devices 102, 104, 106, 108, and 110 may include one or more Light Detection and Ranging Devices (LIDARs) that may be configured to scan the environment around vehicle 100 according to various road conditions or scenarios. Additionally or alternatively, in some embodiments, sensor devices 102, 104, 106, 108, and 110 may include any combination of Global Positioning System sensors, Inertial Measurement Units, Radar (RADAR) devices, cameras, laser range finders, LIDARs, and / or acoustic sensors, among other possibilities.

[0021]

[0037] As shown, sensor unit 102 is mounted on a top side of vehicle 100 opposite the bottom side of vehicle 100 where wheels 112 are mounted. Additionally, sensor units 104, 106, 108, and 110 are each mounted on a given side of vehicle 100 other than the top side. For example, sensor unit 104 is located on the front of vehicle 100, sensor 106 is located on the rear of vehicle 100, sensor unit 108 is located on the right side of vehicle 100, and sensor unit 110 is located on the left side of vehicle 100.

[0022]

[0038] Although sensor devices 102, 104, 106, 108, and 110 are shown mounted at particular locations on vehicle 100, in some embodiments sensor devices 102, 104, 106, 108, and 110 may be mounted elsewhere on vehicle 100, either inside or outside vehicle 100. For example, in FIG. 1A , sensor device 108 is mounted on the right rearview mirror of vehicle 100, but sensor device 108 may alternatively be located at another location along the right side of vehicle 100. Additionally, while five sensor devices are shown, in some embodiments, more or fewer sensor devices may be included on vehicle 100.

[0023]

[0039] In some embodiments, one or more of the sensor units 102, 104, 106, 108, and 110 may include one or more movable platforms on which sensors may be removably mounted. The movable platform may include, for example, a rotating platform. A sensor mounted on the rotating platform may rotate, thereby allowing the sensor to obtain information from various directions around the vehicle 100. For example, the LIDAR of the sensor unit 102 may have a viewing angle that can be adjusted, such as to different directions, by actuating the rotating platform. Alternatively or additionally, the movable platform may include a tilting platform. A sensor mounted on the tilting platform may tilt within a given angular range and / or azimuth angle, thereby allowing the sensor to obtain information from various angles. The movable platform may take other forms as well.

[0024]

[0040] Additionally, in some embodiments, one or more of the sensor devices 102, 104, 106, 108, and 110 may include one or more actuators configured to adjust the position and / or orientation of the sensor within the sensor device by moving the sensor and / or the movable stage. Example actuators include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and piezoelectric actuators. Other actuators are possible.

[0025]

[0041] As shown, vehicle 100 includes one or more wheels, such as wheel 112 configured to rotate to propel the vehicle along a driving surface. In some embodiments, wheel 112 may include at least one tire coupled to a rim of wheel 112. To that end, wheel 112 may include any combination of metal and rubber, or other combinations of materials. Vehicle 100 may include one or more other components in addition to or instead of those shown.

[0026]

[0042] 1B is a perspective view of the sensor device 102 disposed on the upper side of the vehicle 100 shown in FIG. 1A. As shown, the sensor device 102 includes a first LIDAR 120, a second LIDAR 122, a dividing structure 124, and an optical filter 126.

[0027]

[0043] In some examples, the first LIDAR 120 may be configured to scan the environment around the vehicle 100 by continuously rotating around an axis (e.g., a vertical axis, etc.) while, for example, emitting one or more light pulses and detecting light pulses reflected by objects in the vehicle's environment. In some embodiments, the first LIDAR 120 may be configured to repeatedly rotate around an axis so that it can scan the environment at a sufficiently high refresh rate to rapidly detect the movement of objects in the environment. For example, the first LIDAR 120 may have a refresh rate of 10 Hz (e.g., 10 complete rotations of the first LIDAR 120 per second), thereby scanning a 360-degree FOV around the vehicle 10 times per second. Through this process, for example, a 3D map of the surrounding environment may be determined based on the data from the first LIDAR 120. In one embodiment, the first LIDAR 120 may include multiple light sources emitting 64 laser beams with a wavelength of 905 nm. In this embodiment, the 3D map determined based on data from the first LIDAR 120 may have a 0.2° (horizontal) x 0.3° (vertical) angular resolution, and the first LIDAR 120 may have a 360° (horizontal) x 20° (vertical) FOV of the environment. In this embodiment, the 3D map may have sufficient resolution to detect or identify objects within a medium distance, for example, 100 meters from the vehicle 100. However, other configurations (e.g., number of light sources, angular resolution, wavelength, distance, etc.) are possible.

[0028]

[0044] Unlike the first LIDAR 120, in some embodiments, the second LIDAR 122 may be configured to scan a narrower FOV of the environment around the vehicle 100. For example, the second LIDAR 122 may be configured to rotate (horizontally) less than one full rotation around a similar axis. Furthermore, in some examples, the second LIDAR 122 may have a lower refresh rate than the first LIDAR 120. Through this process, the vehicle 100 may use data from the second LIDAR 122 to determine a 3D map of the narrower FOV of the environment. The 3D map in this case may have a higher angular resolution than a corresponding 3D map determined based on data from the first LIDAR 120, and thus may enable detection / identification of objects further away than the mid-range of the first LIDAR 120, and identification of smaller objects within the mid-range. In one embodiment, the second LIDAR 122 may have a FOV of 8° (horizontal) by 15° (vertical), a refresh rate of 4 Hz, and may emit one narrow beam with a wavelength of 1550 nm. In this embodiment, the 3D map determined based on the data from the second LIDAR 122 may have an angular resolution of 0.1° (horizontal) by 0.03° (vertical), thereby enabling detection / identification of objects within a distance of about 300 meters from the vehicle 100. However, other configurations (e.g., number of light sources, angular resolution, wavelength, distance, etc.) are possible.

[0029]

[0045] In some examples, the vehicle 100 may be configured to adjust the field of view angle of the second LIDAR 122. For example, the second LIDAR 122 may have a narrow horizontal FOV (e.g., 8 degrees), but the second LIDAR 122 may be mounted on a stepper motor (not shown) that allows the field of view angle of the second LIDAR 122 to be adjusted to an aiming direction other than that shown in FIG. 1B. Thus, in some examples, the second LIDAR 122 may be steerable to scan the narrow FOV along any aiming direction from the vehicle 100.

[0030]

[0046] The structure, operation, and functionality of the second LIDAR 122 are described in further detail within the exemplary embodiments herein.

[0031]

[0047] The dividing structure 124 may be formed from any solid material suitable for supporting the first LIDAR 120 and / or optically isolating the first LIDAR 120 from the second LIDAR 122. Example materials may include metal, plastic, foam, among other possibilities.

[0032]

[0048] The optical filter 126 may be formed from any material that is substantially transparent to light having wavelengths in a wavelength range and substantially opaque to light having wavelengths outside the wavelength range. For example, the optical filter 126 may allow light having a first wavelength (e.g., 905 nm) of the first LIDAR 120 and light having a second wavelength (e.g., 1550 nm) of the second LIDAR 122 to propagate through the optical filter 126. As shown, the optical filter 126 is shaped to surround the first LIDAR 120 and the second LIDAR 122. Thus, in some examples, the optical filter 126 may also be configured to prevent environmental damage to the first LIDAR 120 and the second LIDAR 122, such as dust accumulation or impacts from airborne debris, among other possibilities. In some examples, the optical filter 126 may be configured to reduce visible light propagating through the optical filter 126. As a result, the light filter 126 may surround the first LIDAR 120 and the second LIDAR 122 to improve the aesthetic appearance of the vehicle 100, for example, while reducing the visibility of components of the sensor apparatus 102 from a bystander's perspective. In other examples, the light filter 126 is configured to permit visible light as well as light from the first LIDAR 120 and the second LIDAR 122.

[0033]

[0049] In some embodiments, portions of the optical filter 126 may be configured to allow different wavelength ranges to propagate through the optical filter 126. For example, an upper portion of the optical filter 126 above the dividing structure 124 may be configured to allow propagation of light within a first wavelength range that includes the first wavelength of the first LIDAR 120. Further, for example, a lower portion of the optical filter 126 below the dividing structure 124 may be configured to allow propagation of light within a second wavelength range that includes the second wavelength of the second LIDAR 122. In other embodiments, the wavelength range associated with the optical filter 126 may include both the first wavelength of the first LIDAR 120 and the second wavelength of the second LIDAR 122.

[0034]

[0050] 1C is a perspective view of the sensor device 104 disposed on the front of the vehicle 100 shown in FIG. 1A. In some examples, the sensor devices 106, 108, and 110 may be configured similarly to the sensor device 104 shown in FIG. 1C. As shown, the sensor device 104 includes a third LIDAR 130 and an optical filter 132.

[0035]

[0051] The third LIDAR 130 may be configured to scan an FOV of the environment around the vehicle 100 that extends away from a given side (i.e., the front) of the vehicle 100 on which the third LIDAR 130 is disposed. Thus, in some examples, the third LIDAR 130 may be configured to rotate (e.g., horizontally) across an FOV that is wider than the second LIDAR 122 but narrower than the 360 ​​degree FOV of the first LIDAR 120 due to the placement of the third LIDAR 130. In one embodiment, the third LIDAR 130 may have an FOV of 270° (horizontal) by 110° (vertical), a refresh rate of 4 Hz, and may emit one laser beam having a wavelength of 905 nm. In this embodiment, the 3D map determined based on data from the third LIDAR 130 may have an angular resolution of 1.2° (horizontal) by 0.2° (vertical), thereby enabling object detection / identification within a short distance of 30 meters to the vehicle 100. However, other configurations (e.g., number of light sources, angular resolution, wavelength, distance, etc.) are possible. The structure, operation, and functionality of the third LIDAR 130 are described in further detail within the exemplary embodiments of the present disclosure.

[0036]

[0052] 1B. For example, the light filter 132 may be shaped to surround the third LIDAR 130. Further, for example, the light filter 132 may be configured to allow light within a wavelength range that includes the wavelength of light from the third LIDAR 130 to propagate through the light filter 132. In some examples, the light filter 132 may be configured to reduce visible light propagating through the light filter 132, thereby improving the aesthetic appearance of the vehicle 100.

[0037]

[0053] Figure ID illustrates a scenario in which vehicle 100 is traveling over surface 140. Surface 140 may be, for example, a driving surface such as a road or highway, or any other surface. In Figure ID, arrows 142, 144, 146, 148, 150, 152 illustrate light pulses emitted by various LIDARs of sensor devices 102 and 104 at the ends of the vertical FOV of each LIDAR.

[0038]

[0054] As an example, arrows 142 and 144 indicate light pulses emitted by the first LIDAR 120 in FIG. 1B. In this example, the first LIDAR 120 may emit a series of pulses into an area of ​​the environment between the arrows 142 and 144 and receive light pulses reflected from the area to detect and / or identify objects in the area. Due to the placement of the first LIDAR 120 (not shown) of the sensor device 102 on the top side of the vehicle 100, the vertical FOV of the first LIDAR 120 is limited by the structure of the vehicle 100 (e.g., roof, etc.), as shown in FIG. 1D. However, the placement of the first LIDAR 120 in the sensor device 102 on the top side of the vehicle 100 allows the first LIDAR 120 to scan all directions around the vehicle 100 by rotating substantially around the vertical axis 170. Similarly, for example, arrows 146 and 148 indicate light pulses emitted by the second LIDAR 122 in FIG. 1B at the ends of the second LIDAR 122's vertical FOV. Additionally, the second LIDAR 122 may be steerable to adjust the field of view angle of the second LIDAR 122 in any direction around the vehicle 100, consistent with the description. In one embodiment, the vertical FOV of the first LIDAR 120 (e.g., angle between arrows 142 and 144) is 20° and the vertical FOV of the second LIDAR 122 is 15° (e.g., angle between arrows 146 and 148). However, other vertical FOVs are possible depending on factors such as, for example, the structure of the vehicle 100 or the configuration of the respective LIDARs.

[0039]

[0055] 1D , the sensor device 102 (including the first LIDAR 120 and / or the second LIDAR 122) may scan for objects in the environment of the vehicle 100 in any direction around the vehicle 100 (e.g., by rotating, etc.), but may not be well suited to scanning the environment for objects in close proximity to the vehicle 100. For example, as shown, an object within a distance 154 to the vehicle 100 may not be detected, or may only be partially detected, by the first LIDAR 120 of the sensor device 102 because the location of such object falls outside the region between the light pulses indicated by the arrows 142 and 144. Similarly, an object within a distance 156 may not be detected, or may only be partially detected, by the second LIDAR 122 of the sensor device 102.

[0040]

[0056] Accordingly, the third LIDAR 130 (not shown) of the sensor device 104 may be used to scan the environment for objects close to the vehicle 100. For example, due to the placement of the sensor device 104 at the front of the vehicle 100, the third LIDAR 130 may be suitable for scanning the environment for objects within a distance 154 and / or a distance 156 to the vehicle 100, at least a portion of the environment extending away from the front of the vehicle 100. As shown, for example, the arrows 150 and 152 indicate light pulses emitted by the third LIDAR 130 at the ends of the vertical FOV of the third LIDAR 130. Thus, for example, the third LIDAR 130 of the sensor device 104 may be configured to scan the portion of the environment between the arrows 150 and 152, including objects close to the vehicle 100. In one embodiment, the vertical FOV of the third LIDAR 130 is 110° (e.g., the angle between the arrows 150 and 152). However, other vertical FOVs are possible.

[0041]

[0057] Note that the angles between the various arrows 142-152 shown in Figure 1D are not to scale and are for illustrative purposes only, and thus, in some examples, the vertical FOV of the various LIDARs may vary as well.

[0042]

[0058] 1E illustrates a top view of the vehicle 100 in a scenario in which the vehicle 100 is scanning the surrounding environment. In accordance with the above description, each of the various LIDARs of the vehicle 100 may have a particular resolution according to its respective refresh rate, FOV, or any other factor. As a result, the various LIDARs may be suitable for detecting and / or identifying objects within their respective ranges of distance to the vehicle 100.

[0043]

[0059] As shown in FIG. 1E , contours 160 and 162 indicate example ranges of distances to the vehicle 100 where objects may be detected and / or identified based on data from the first LIDAR 120 of the sensor device 102. As shown, for example, nearby objects within contour 160 may not be properly detected and / or identified due to the placement of the sensor device 102 on the top side of the vehicle 100. However, for example, objects outside contour 160 but within a mid-range range (e.g., 100 meters, etc.) defined by contour 162 may be properly detected / identified using data from the first LIDAR 120. Additionally, as shown, the horizontal FOV of the first LIDAR 120 may span 360° in all directions around the vehicle 100.

[0044]

[0060] Further, as shown in FIG. 1E, contour 164 indicates an area of ​​the environment where objects may be detected and / or identified using higher resolution data from the second LIDAR 122 of the sensor device 102. As shown, contour 164 includes objects at relatively longer distances (e.g., 300 meters, etc.) farther from the vehicle 100, for example. Although contour 164 shows a narrower FOV (horizontal) of the second LIDAR 122, in some examples, the vehicle 100 may be configured to adjust the field of view angle of the second LIDAR 122 in any direction other than that shown in FIG. 1E. As an example, the vehicle 100 may detect an object using data from the first LIDAR 120 (e.g., within contour 162), adjust the field of view angle of the second LIDAR 122 to an FOV that includes the object, and then identify the object using the higher resolution data from the second LIDAR 122. In one embodiment, the horizontal FOV of the second LIDAR 122 may be 8°.

[0045]

[0061] 1E , contour 166 indicates a region of the environment that is scanned by the third LIDAR 130 of the sensor apparatus 104. As shown, the region indicated by contour 166 includes, for example, portions of the environment that may not be scanned by the first LIDAR 120 and / or the second LIDAR 124. Further, for example, data from the third LIDAR 130 may have sufficient resolution to detect and / or identify objects within a short distance (e.g., 30 meters, etc.) to the vehicle 100.

[0046]

[0062] It should be noted that the aforementioned ranges, resolutions, and FOVs are for illustrative purposes only and may vary according to various configurations of vehicle 100. Additionally, contours 160, 162, 164, and 166 shown in FIG IE are not to scale and are illustrated for convenience of explanation.

[0047]

[0063] 2 illustrates a system 200 that may include a vehicle 210 and a controller 230. The vehicle 210 may be similar to or identical to the vehicle 100 illustrated and described with reference to FIG. 1. The system 200 may include one or more sensing devices 212, a housing 214, a rotating base 216, and a LIDAR device 220. The controller 230 may include a processor 232 and a memory 234.

[0048]

[0064] The sensing devices 212 may be configured to provide environmental data regarding the environment surrounding the vehicle 210. The sensing devices 212 may be coupled to the vehicle, although location of the sensing devices 212 remote from the vehicle is also possible. The sensing devices 212 may include cameras, LIDAR devices, RADAR devices, sonar transducers, or another type of sensor.

[0049]

[0065] The LIDAR device 220 may be configured to rotate about an axis that passes through the vehicle from top to bottom. As such, the LIDAR device 220 may be configured to emit laser light into the environment around the vehicle and receive reflected light that bounces off objects in the environment. By analyzing the received light, a point cloud may be formed that may provide a three-dimensional (3D) representation of the environment. In other words, the LIDAR device 220 may be capable of providing information about a 360-degree field of view around the vehicle.

[0050]

[0066] The LIDAR device 220 may be similar to or identical to the second LIDAR device 124 described and illustrated with reference to FIG. 1 above. The LIDAR device 220 may be coupled to the vehicle 210. The LIDAR device 220 includes a light source 222, which may be configured to emit light at one or more wavelengths. In an exemplary embodiment, the LIDAR device 220 may be configured to emit light at a wavelength of 1550 nm. Other emission wavelengths are possible. The light source 222 of the LIDAR device 220 may be a fiber laser, such as a laser including a rare earth doped optical fiber that may function as an active gain medium. Alternatively, the light source 222 may be another type of laser.

[0051]

[0067] In an exemplary embodiment, the scanning portion 224 of the LIDAR device 220 may be configured to move the emitted light back and forth about a first axis. In an exemplary embodiment, the scanning portion 224 may include a movable mirror, a spring, and an actuator. The light source 222 of the LIDAR device 220 may emit light toward the movable mirror. The spring and actuator may be configured to move the movable mirror back and forth about a horizontal axis to move the beam of emitted light substantially along a vertical line.

[0052]

[0068] In some embodiments, the spring and actuator may be configured to move the movable mirror about the first axis at a resonant frequency, which may be 140 Hz, although other frequencies are possible.

[0053]

[0069] Moreover, at least the movable mirror may be mounted on a rotating platform 216. In an exemplary embodiment, the scanning portion 224 of the LIDAR device 220 may be disposed within the housing 214. The housing 214 may be disposed on the upper side of the vehicle 210. In such a scenario, a second axis may be defined as passing through the top and bottom of the vehicle 210. As previously mentioned, the rotating platform 216 may be coupled to the movable mirror such that the movable mirror may rotate about the second axis. As a result, the movable mirror may be configured to direct light within a 360 degree field of view around the vehicle 210. In other exemplary embodiments, the rotating platform 216 need not be configured to rotate 360 ​​degrees, but rather within a smaller angular range.

[0054]

[0070] The housing 214 may contain a light filter, which may be dome-shaped and configured to reduce the amount of visible light that propagates therethrough.

[0055]

[0071] The LIDAR device 220 may further include one or more detectors 226 configured to receive emitted light reflected from the environment. In example embodiments, the LIDAR device 220 may be configured to form a 3D representation based on the environmental information. Further, the LIDAR device 220 may be configured to determine objects within the environment based on the 3D representation.

[0056]

[0072] The LIDAR device 220 may be configured to operate in response to environmental information provided by the other sensing device 212. For example, the other sensing device 212 may obtain environmental information that may be indicative of objects in the vehicle's environment. Target information may be determined based on the environmental information. That is, the target information may include a type, size, or shape of the object, a particular distance, a particular location, or an angular range. In some embodiments, the target information may indicate a target object for which higher quality information is required, such as, for example, a higher resolution, more scans, etc. For example, if another sensing device 212 provides environmental information indicating a possible pedestrian near a crosswalk, the target information may be based on the location of the possible pedestrian.

[0057]

[0073] FIG. 3A illustrates a diagram of a LIDAR device 300 according to an example embodiment. The LIDAR device 300 may be similar to or identical to the second LIDAR 122 illustrated and described with reference to FIG. 1B. For example, the LIDAR device 300 may be mounted on the top side of a vehicle, such as the vehicle 100, similar to the second LIDAR 122 of FIG. 1B. As illustrated, the LIDAR device 300 includes an optical assembly 310, a mirror 320, a pin 322, and a mount 330. Additionally, a light beam 304 emitted by the second LIDAR device 300 propagates away from the mirror 320 toward the environment of the LIDAR device 300 along the viewing angle of the second LIDAR 300 and reflects off one or more objects in the environment as reflected light 306.

[0058]

[0074] The optical assembly 310 may be configured to emit a light pulse toward the mirror 320, which is then reflected by the mirror 320 as the emitted light 304. Additionally, the optical assembly 310 may be configured to receive the reflected light 306 reflected from the mirror 320. In one embodiment, the optical assembly 310 may include a single laser emitter configured to provide a narrow beam having a wavelength of 1550 nm. In this embodiment, the narrow beam may have sufficient high energy for object detection within a long distance, similar to the second LIDAR 122 of FIG. 1B. In other embodiments, the optical assembly 310 may include multiple light sources, similar to the LIDAR 200 of FIGS. 2A-2B. Additionally, in some examples, the optical assembly 310 may include a single lens for both collimating the emitted light 304 and focusing the reflected light 306. In other examples, the optical assembly 310 may include a first lens for collimating the emitted light 304 and a second lens for focusing the reflected light 306.

[0059]

[0075] 3A, the mirror 320 may be positioned to steer the emitted light 304 from the optical assembly 310 toward the viewing angle of the LIDAR 300. Similarly, for example, the mirror 320 may be positioned to steer the reflected light 306 from the environment toward the optical assembly 310.

[0060]

[0076] The pin 322 may be configured to attach the mirror 320 to the LIDAR device 300. As a result, the pin 322 may be formed from any material capable of supporting the mirror 320. For example, the pin 322 may be formed from a solid material such as plastic or metal, among other possibilities. In some examples, the LIDAR 300 may be configured to rotate the mirror 320 about the pin 322 through a given range of angles to vertically steer the emitted light 304. In one embodiment, the LIDAR 300 may rotate the mirror 320 about the pin 322 through an angle range of 15°. In this embodiment, the vertical FOV of the LIDAR 300 may correspond to 15°. However, other vertical FOVs are possible according to various factors, such as the mounting location of the LIDAR 300 or any other factor.

[0061]

[0077] The platform 330 can be formed of any material capable of supporting various components of the LIDAR 300, such as the optical assembly 310 and the mirror 320. For example, the platform 330 can be formed of a solid material, such as plastic or metal, among other possibilities. In some examples, the platform 330 can be configured to rotate about an axis of the LIDAR device 300. For example, the platform 330 can include a motor, such as a stepper motor, to facilitate such rotation. In some examples, the axis is substantially vertical. In some examples, by rotating the platform 330 supporting the various components, the platform 330 can steer the emitted light 304 horizontally, thereby enabling the LIDAR 300 to have a horizontal FOV. In one embodiment, the platform 330 can rotate for a defined amount of rotation, such as 8°. In this embodiment, the LIDAR 300 can thus have a horizontal FOV of 8°, similar to the second LIDAR 122 of FIG. 1B. In another embodiment, the platform 330 may rotate for a full 360° rotation, similar to the first LIDAR 120 of Figure 1B, resulting in a horizontal FOV of 360°. Other configurations of the platform 330 are possible.

[0062]

[0078] Figure 3B shows a diagram of the LIDAR device 300, in accordance with an example embodiment, that is, Figure 3B is a top perspective view of the LIDAR device 300.

[0063]

[0079] 4A and 4B show different cross-sectional views of a LIDAR device 400, according to an example embodiment. The LIDAR device 400 may be similar to or identical to other devices disclosed herein, such as the LIDAR device 200 and the LIDAR device 300 illustrated and described with reference to Figures 2, 3A, and 3B. Moreover, the LIDAR device 400 may be one of multiple LIDAR sensor devices integrated into a vehicle, such as the vehicle 100 illustrated and described with reference to Figures 1A and 1B.

[0064]

[0080] The LIDAR device 400 may include a movable mirror 402, a light source 404, an emission mirror 406, a lens 408, and one or more detectors 410. The LIDAR device 400 may be surrounded by an optical filter 412.

[0065]

[0081] As described elsewhere herein, the light source 404 may be a fiber laser. The light source 404 may emit emission light at 1550 nm. The emission light from the light source 404 may be reflected to the emission mirror 406. The emission mirror 406 may be a planar mirror. Alternatively or additionally, the emission mirror 406 may include a converging mirror, a diverging mirror, or another type of reflecting optical device, such as a cylindrical lens. One skilled in the art will recognize that the emission mirror 406 may represent one or more optical components configured to direct the emission light towards the movable mirror 402. Moreover, the one or more optical components may be configured to shape, reflect, focus, or otherwise modify the emission light from the light source 404.

[0066]

[0082] The emitted light may optionally be focused by lens 408 before interacting with the moveable mirror 402. Alternatively, the emitted light may pass through an opening (e.g., an aperture slit or aperture) in lens 408 before interacting with the moveable mirror 402. Additionally or alternatively, the emitted light may be focused or otherwise modified by another optical element.

[0067]

[0083] The optical filter 412 may be configured to be substantially transparent to at least some wavelengths of the emitted light. The optical filter 412 may be configured to be substantially opaque to other wavelengths of light.

[0068]

[0084] As described elsewhere herein, the LIDAR device 400 may be configured to rotate on a rotating platform 414. Specifically, the rotating platform 414 may be configured to rotate about a vertical axis. The movable mirror 402 may be configured to rotate back and forth about a pin 416 to direct the emitted light up and down along a vertical plane. The combination of the rotational motion of the rotating platform 414 and the reciprocating motion of the movable mirror 402 may enable illumination of a field of view of the vehicle's environment.

[0069]

[0085] The emitted light may interact with objects and surfaces in the vehicle's environment. At least a portion of the emitted light may be reflected back toward the LIDAR device 400 and the movable mirror 402 as reflected light. The reflected light may interact with the movable mirror 402, which causes the reflected light to be directed toward the lens 408. The lens 408 may focus, collimate, or otherwise modify the reflected light so that it interacts with one or more detectors 410.

[0070]

[0086] As described elsewhere herein, the reflected light collected by one or more detectors 410 may be used to form a spatial point cloud, which may provide information about objects and / or surfaces within the field of view of the LIDAR device 400.

[0071]

[0087] FIG. 5 illustrates a representation of a scene 500, according to an example embodiment. Specifically, FIG. 5 may illustrate a spatial point cloud of an environment based on data from the LIDAR devices 300 and 400 of FIGS. 3A, 3B, 4A, and 4B. The spatial point cloud may represent a three-dimensional (3D) representation of the environment around the vehicle. The 3D representation may be generated as a 3D point cloud by a computing device based on data from the LIDAR devices 300 and 400 of FIGS. 3A, 3B, 4A, and 4B. Each point in the 3D cloud may be associated with, for example, a reflected light pulse from the reflected light beam 306 shown in FIG. 3A. Thus, as shown, points farther away from the LIDAR device 300 are farther away from each other due to the angular resolution of the LIDAR device 300.

[0072]

[0088] Based on the rotation of the LIDAR device 300, the scene 500 includes a scan of the environment in all directions (360° horizontally), as shown in FIG. 5. Furthermore, as shown, a region 502 of the scene 500 does not include any points. For example, the region 502 may correspond to the contour 160 (FIG. 1E) around the vehicle 100 that the LIDAR device 300 of FIG. 3A cannot scan because it is located on the top side of the vehicle 100. Moreover, as shown, a region 504 indicates objects in the environment of the LIDAR device 300. For example, the objects in the region 504 may correspond to pedestrians, vehicles, or other obstacles in the environment of the LIDAR device 300. In an example scenario in which the LIDAR device 300 is mounted on a vehicle, such as the vehicle 100, the vehicle 100 may utilize the spatial point cloud information from the scene 500 to navigate the vehicle away from the region 504 and toward a region 506 that does not include the obstacles of the region 504.

[0073]

[0089] Figure 6 shows a representation of a scene 600, according to an example embodiment. In some examples, the 3D representation may be generated based on the spatial point cloud data generated by the LIDAR device 300 or 400 of Figures 3A, 3B, 4A, and 4B. Each point in the 3D cloud may be associated with a reflected light pulse, for example, from the reflected light beam 306 shown in Figure 3A.

[0074]

[0090] As shown, the representation of scene 600 includes region 602, similar to region 502 of scene 500, which may represent an area that is not or cannot be scanned because LIDAR device 300 is located on the top side of the vehicle. For example, region 602 may correspond to contour 160 of FIG. 1E around the vehicle 100.

[0075]

[0091] However, unlike the representation of scene 500 in Figure 5, the representation of scene 600 may span a much narrower field of view. For example, the FOV scanned by LIDAR 300 and illustrated in the representation of scene 600 may correspond to contour 164 in Figure 1E. In part due to the narrower FOV, the representation of scene 600 has a higher resolution than the representation of scene 500. For example, points in the point cloud of scene 600 are closer to each other, and therefore some objects in the environment may be more easily identified compared to objects in the environment represented by scene 500.

[0076]

[0092] In the example scenario, a vehicle such as vehicle 100 may include a first LIDAR (e.g., first LIDAR 120) and a second LIDAR (e.g., second LIDAR 122). In the scenario, the vehicle may utilize data from the first LIDAR to generate a representation of the scene 500 of FIG. 5. Additionally, in the scenario, the vehicle may determine a region 504 of the representation of the scene 500 as a region of interest, or a target object / location, for further scanning. As a result, the vehicle in the scenario may adjust the viewing angle of the second LIDAR and scan the region of interest to obtain a representation of the scene 600 of FIG. 6. In the scenario, the vehicle may process the representation of the scene 600 using a computing process, such as an image processing algorithm or a shape detection algorithm. As a result, the vehicle in the scenario may identify an object in the region 604 of the representation of the scene 600 as a pedestrian and another object in the region 606 as a light post. In this scenario, the vehicle may then proceed accordingly.

[0077]

[0093] In one example, the vehicle may proceed to within a first threshold distance to the object if the object includes a pedestrian (e.g., as shown in region 604), or to within a lower second threshold distance if the object includes an inanimate object such as a light pole (e.g., as shown in region 606), among other possibilities. In another example, the vehicle may assign a second LIDAR to track an object if a living object is identified (e.g., region 604), or to track other objects if only inanimate objects are identified. Other navigation maneuvers are possible depending on the scenario.

[0078]

[0094] In example embodiments, a target area or target object / location may be determined based on target information. Target information may include a particular object of interest, a pedestrian, another vehicle, an intersection, a traffic signal, a crosswalk, a vehicle's "blind" spot, or any number of other objects that may be of interest in the navigation of a vehicle. Target information may be received by a controller of a LIDAR system or provided by a sensing device. The sensing device may include another LIDAR system or may be another type of sensor, such as a camera, an ultrasonic transducer, and / or a RADAR.

[0079]

[0095] Alternatively or additionally, the object information may be based on a map of the environment surrounding the vehicle, the position of the vehicle, or the movement of the vehicle. Other object information may assist in vehicle navigation and object avoidance.

[0080]

[0096] Thus, in some examples, a vehicle including a combination of the sensors and LIDAR devices disclosed herein may utilize the respective characteristics of each sensor, such as refresh rate, resolution, FOV, position, etc., to scan the environment according to various road conditions and / or scenarios.

[0081]

[0097] Figure 7 shows a representation of a scene 700, according to an example embodiment. As a further illustrative example, Figure 7 may include another spatial point cloud that may be generated by the LIDAR device 300 or 400, as illustrated and described with reference to Figures 3A, 3B, 4A, and 4B. That is, Figure 7 may include a representation of a blind (unscannable) area 702 and a person 704.

[0082]

[0098] 8 illustrates a vehicle traveling in an environment including one or more objects, according to an example embodiment. Vehicle 800 may be similar to vehicle 100. For example, as shown, vehicle 800 includes sensor devices 802, 806, 808, and 810, which are similar to sensor devices 102, 106, 108, and 110, respectively, of vehicle 100. For example, sensor device 802 may include a first LIDAR (not shown) and a second LIDAR (not shown), which are similar to first LIDAR 120 and second LIDAR 122, respectively, of vehicle 100. Additionally, for example, each of sensor devices 806-810 may also include a LIDAR, which is similar to third LIDAR 130 of vehicle 100. As shown, the environment of vehicle 800 includes various objects, such as automobiles 812, 814, 816, traffic sign 818, tree 820, building 822, road sign 824, pedestrian 826, dog 828, automobile 830, driveway 832, and lane markings, including lane markings 834. In accordance with the present disclosure, vehicle 800 may perform methods and processes herein, such as methods 500-700, to facilitate autonomous operation of vehicle 800 and / or accident avoidance by vehicle 800. Below are example scenarios for operation of vehicle 800 in accordance with the present disclosure.

[0083]

[0099] In a first scenario, the vehicle 800 may detect a traffic sign 818 using a mid-range LIDAR, similar to the first LIDAR 120 of the vehicle 100. In other words, the first LIDAR 120 or another sensor may provide target information to the controller 230 of the LIDAR system 200. As a result, the vehicle 800 may adjust the viewing angle of a higher resolution LIDAR and / or a longer range LIDAR, similar to the second LIDAR 122 of the vehicle 100, to analyze the traffic sign 818 for information. For example, the higher resolution of the second LIDAR may enable resolving information due to differences in the reflectivity of features in the traffic sign 818. In one example scenario, the traffic sign may indicate an obstacle or lane closure ahead, and the vehicle 800 may adjust its speed or change lanes accordingly. In another example scenario, a traffic sign may indicate a traffic delay ahead and vehicle 800 may instruct a navigation system of vehicle 800 to determine an alternative route as a result. Other variations of the scenario are possible.

[0084]

[0100] In a second scenario, the vehicle 800 may use various sensors to detect and / or identify various objects shown in FIG. 8. The various sensors may provide target information related to the environment surrounding the vehicle 800 to the controller 230. For example, the vehicle 800 may identify the automobiles 812-816 as moving objects that may be relevant to the navigation behavior of the vehicle 800. In response, the vehicle 800 may use the LIDAR device 300 or 400 to track the automobiles 812-816 and facilitate such navigation. For example, the vehicle 800 may adjust its speed or change lanes to avoid contact with the automobiles 812-816 based on the data from the LIDAR device 300 or 400.

[0085]

[0101] In a third scenario, the vehicle 800 may utilize a first LIDAR of the sensor device 802, similar to the LIDAR 120 of the vehicle 100, to detect and / or identify an automobile 814 that is within a threshold distance (e.g., medium distance) to the vehicle 800. In the scenario, the automobile 814 may be in the process of changing lanes into the same lane as the vehicle 800. In the scenario, the vehicle 800 may need to adjust its speed and / or change lanes to keep a safe distance to the automobile 814. However, the data from the first LIDAR may have a first resolution that is insufficient to detect whether the automobile 814 is crossing the lane line 834, or may even be insufficient to detect / identify the lane line 834. Thus, in a scenario, the vehicle 800 may adjust the viewing angle of a second LIDAR, similar to the second LIDAR 122 or LIDAR devices 300 or 400, contained within the sensor device 802 and having a second resolution higher than the first resolution of the first LIDAR. As a result, the vehicle 800 may resolve lane lines 834 and / or whether the automobile 814 is crossing a lane line. Alternatively, for example, the vehicle 800 may utilize the higher resolution of the second LIDAR to detect the left signal light of the automobile 814 and determine that the vehicle 814 is changing lanes, among other possibilities.

[0086]

[0102] In a fourth scenario, automobile 816 may be driving erratically or traveling at a high speed relative to vehicle 800, among other possibilities. In this scenario, vehicle 800 may use LIDAR device 300 or 400 to track automobile 816 and may navigate accordingly (e.g., change lanes, adjust speed, etc.) to avoid contact with automobile 816.

[0087]

[0103] Other scenarios are possible. In this manner, the present methods and systems may facilitate autonomous driving and / or accident avoidance for vehicles, such as vehicle 800, by utilizing a high-resolution LIDAR system configured to provide information regarding the environment surrounding vehicle 800.

[0088]

[0104] 9 is a simplified block diagram of a vehicle 900, according to an example embodiment. Vehicle 900 may be similar to vehicles 100 and / or 800. Additionally, vehicle 900 may be configured to perform the functions and methods herein, such as methods 500, 600, and / or 700. As shown, vehicle 900 includes a propulsion system 902, a sensor system 904, a control system 906, peripherals 908, and a computer system 910. In other embodiments, vehicle 900 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Additionally, the illustrated systems and components may be combined or divided in any number of ways.

[0089]

[0105] The propulsion system 902 may be configured to provide powered motion for the vehicle 900. As shown, the propulsion system 902 includes an engine / motor 918, an energy source 920, a transmission 922, and wheels / tires 924.

[0090]

[0106] The engine / motor 918 may be or include any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine. Other motors and engines are possible. In some embodiments, the propulsion system 902 may include multiple types of engines and / or motors. For example, a gasoline-electric hybrid vehicle may include a gasoline engine and an electric motor. Other examples are possible.

[0091]

[0107] Energy source 920 may be a source of energy that fully or partially powers engine / motor 918. That is, engine / motor 918 may be configured to convert energy source 920 into mechanical energy. Examples of energy source 920 include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. Energy source(s) 920 may additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and / or flywheels. In some embodiments, energy source 920 may also provide energy to other systems of vehicle 900.

[0092]

[0108] The transmission 922 may be configured to transfer mechanical power from the engine / motor 918 to the wheels / tires 924. To this end, the transmission 922 may include a gearbox, a clutch, a differential, a drive shaft, and / or other elements. In embodiments in which the transmission 922 includes a drive shaft, the drive shaft may include one or more axles configured to couple to the wheels / tires 924.

[0093]

[0109] The wheels / tires 924 of the vehicle 900 may be configured in a variety of styles, including a unicycle, a two-wheeler / motorcycle, a three-wheeler, or a four-wheeled car / truck style. Other wheel / tire styles are possible, such as those including six or more wheels. In either case, the wheels / tires 924 may be configured to rotate differentially with respect to the other wheels / tires 924. In some embodiments, the wheels / tires 924 may include at least one wheel fixedly attached to the transmission 922 and at least one tire coupled to a wheel rim that may contact the driving surface. The wheels / tires 924 may include any combination of metal and rubber, or other combinations of materials. The propulsion system 902 may additionally or alternatively include components other than those shown.

[0094]

[0110] The sensor system 904 may include a number of sensors configured to sense information about the environment in which the vehicle 900 is located, and one or more actuators 936 configured to change the position and / or orientation of the sensors. As shown, the sensors of the sensor system 904 include a global positioning system (GPS) 926, an inertial measurement unit (IMU) 928, a RADAR device 930, a laser range finder and / or LIDAR device 932, and a camera 934. The sensor system 904 may also include additional sensors, including, for example, sensors that monitor the internal systems of the vehicle 900 (e.g., O2 monitor, fuel gauge, engine oil temperature, etc.). Additionally, the sensor system 904 may include multiple LIDARs. In some examples, the sensor system 904 may be implemented as multiple sensor devices, each mounted on the vehicle at a respective location (e.g., top side, bottom side, front, back, right side, left side, etc.). Other sensors are possible.

[0095]

[0111] GPS 926 may be any sensor (e.g., a position sensor) configured to estimate the geographic position of vehicle 900. To this end, GPS 926 may include a transceiver configured to estimate the position of vehicle 900 with respect to the Earth. GPS 926 may also take other forms.

[0096]

[0112] IMU 928 may be any combination of sensors configured to detect changes in position and orientation of vehicle 900 based on inertial acceleration. In some embodiments, the combination of sensors may include, for example, accelerometers and gyroscopes. Other combinations of sensors are possible.

[0097]

[0113] The RADAR device 930 may be any sensor configured to detect, using radio signals, objects within an environment in which the vehicle 900 is located. In some embodiments, in addition to detecting objects, the RADAR device 930 may additionally be configured to detect the speed and / or direction of travel of the objects.

[0098]

[0114] Similarly, the laser range finder or LIDAR device 932 may be any sensor configured to detect objects in an environment in which the vehicle 900 is located using a laser. Specifically, the laser range finder or LIDAR device 932 may include a laser source and / or a laser scanner configured to emit a laser and a detector configured to detect reflections of the laser. The laser range finder or LIDAR 932 may be configured to operate in a coherent (e.g., using heterodyne detection) or incoherent detection mode. In some examples, the LIDAR device 932 may include multiple LIDARs, each having a unique position and / or configuration suitable for scanning a particular region of the environment surrounding the vehicle 900.

[0099]

[0115] Camera 934 may be any camera (e.g., a still camera, a video camera, etc.) configured to capture images of the environment in which vehicle 900 is located. To this end, the camera may take any of the forms previously described. Sensor system 904 may additionally or alternatively include components other than those shown.

[0100]

[0116] The control system 906 may be configured to control the operation of the vehicle 900 and its components. To this end, the control system 906 may include a steering system 938, a throttle 940, a braking system 942, a sensor fusion algorithm 944, a computer vision system 946, a navigation or routing system 948, and an obstacle avoidance system 950.

[0101]

[0117] The steering device 938 may be any combination of mechanisms configured to adjust the direction of travel of the vehicle 900. The throttle 940 may be any combination of mechanisms configured to control the operating speed of the engine / motor 918 and, consequently, the speed of the vehicle 900. The braking device 942 may be any combination of mechanisms configured to slow the vehicle 900. For example, the braking device 942 may use friction to slow the wheels / tires 924. As another example, the braking device 942 may convert the kinetic energy of the wheels / tires 924 into an electric current. The braking device 942 may take other forms as well.

[0102]

[0118] The sensor fusion algorithm 944 may be an algorithm (or a computer program product having an algorithm stored thereon) configured to accept data from the sensor system 904 as input. The data may include, for example, data representing information sensed by sensors of the sensor system 904. The sensor fusion algorithm 944 may include, for example, a Kalman filter, a Bayesian network, an algorithm configured to perform some of the functions of the methods herein, or any other algorithm. The sensor fusion algorithm 944 may be further configured to provide various evaluations based on the data from the sensor system 904, including, for example, an evaluation of individual objects and / or features in the environment in which the vehicle 100 is located, an evaluation of a particular situation, and / or an evaluation of possible effects based on a particular situation. Other evaluations are possible.

[0103]

[0119] Computer vision system 946 may be any system configured to process and analyze images captured by camera 934 to identify objects and / or features in the environment in which vehicle 900 is located, including, for example, traffic signals and obstacles. To this end, computer vision system 946 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, or other computer vision techniques. In some embodiments, computer vision system 946 may additionally be configured to map the environment, track objects, estimate object speeds, etc.

[0104]

[0120] Navigation and routing system 948 may be any system configured to determine a driving route for vehicle 900. Navigation and routing system 948 may additionally be configured to dynamically update the driving route while vehicle 900 is traveling. In some embodiments, navigation and routing system 948 may be configured to integrate data from sensor fusion algorithms 944, GPS 926, LIDAR device 932, and one or more predefined maps to determine a driving route for vehicle 900.

[0105]

[0121] Obstacle avoidance system 950 may be any system configured to identify, evaluate, and avoid or otherwise negotiate obstacles within an environment in which vehicle 900 is located. Control system 906 may additionally or alternatively include components other than those shown.

[0106]

[0122] The peripherals 908 may be configured to enable the vehicle 900 to interact with external sensors, other vehicles, external computing devices, and / or a user. To this end, the peripherals 908 may include, for example, a wireless communication system 952, a touch screen 954, a microphone 956, and / or a speaker 958.

[0107]

[0123] The wireless communication system 952 may be any system configured to wirelessly connect, either directly or via a communication network, with one or more other vehicles, sensors, or other entities. To this end, the wireless communication system 952 may include an antenna and a chipset for communicating with other vehicles, sensors, servers, or other entities, either directly or via a communication network. The chipset or wireless communication system 952 may generally be configured to communicate according to one or more types of wireless communication (e.g., protocols), such as BLUETOOTH, communication protocols set forth in IEEE 802.11 (including any IEEE 802.11 revisions), cellular technology (GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), ZIGBEE, Dedicated Short Range Communications (DSRC), and Radio Frequency Identification (RFID) communications, among other possibilities. The wireless communication system 952 may take other forms as well.

[0108]

[0124] The touchscreen 954 may be used by a user to input commands to the vehicle 900. To this end, the touchscreen 954 may be configured to sense at least one of the position and movement of a user's finger by capacitive sensing, resistive sensing, or surface acoustic wave processes, among other possibilities. The touchscreen 954 may be capable of sensing finger movement parallel or planar to the touchscreen surface, perpendicular to the touchscreen surface, or both, and may also be capable of sensing pressure levels applied to the touchscreen surface. The touchscreen 954 may be formed from one or more semi-transparent or transparent insulating layers and one or more semi-transparent or transparent conductive layers. The touchscreen 954 may take other forms as well.

[0109]

[0125] Microphone 956 may be configured to receive audio (e.g., voice commands or other audio input) from a user of vehicle 900. Similarly, speaker 958 may be configured to output audio to a user of vehicle 900. Peripherals 908 may additionally or alternatively include components other than those shown.

[0110]

[0126] Computer system 910 may be configured to transmit data to, receive data from, interact with, and / or control one or more of propulsion system 902, sensor system 904, control system 906, and peripherals 908. To this end, computer system 910 may be communicatively coupled to one or more of propulsion system 902, sensor system 904, control system 906, and peripherals 908 by a system bus, network, and / or other connection mechanism (not shown).

[0111]

[0127] In one example, computer system 910 may be configured to control operation of transmission 922 to improve fuel efficiency. As another example, computer system 910 may be configured to cause camera 934 to capture images of the environment. As yet another example, computer system 910 may be configured to store and execute instructions corresponding to sensor fusion algorithms 944. As yet another example, computer system 910 may be configured to store and execute instructions for determining a 3D representation of the environment surrounding vehicle 900 using LIDAR device 932. Other examples are possible.

[0112]

[0128] As shown, computer system 910 includes a processor 912 and data storage 914. Processor 912 may include one or more general purpose processors and / or one or more special purpose processors. To the extent processor 912 includes more than one processor, such processors may operate separately or in combination. Data storage 914 may in turn include one or more volatile and / or one or more non-volatile storage components, such as optical, magnetic, and / or organic storage, and data storage 914 may be integrated in whole or in part with processor 912.

[0113]

[0129] In some embodiments, data storage 914 may include instructions 916 (e.g., program logic) executable by processor 912 to perform various vehicle functions (e.g., methods 500-700, etc.). Data storage 914 may also include additional instructions, including instructions for transmitting data to, receiving data from, interacting with, and / or controlling one or more of propulsion system 902, sensor system 904, control system 906, and / or peripherals 908. Computer system 910 may additionally or alternatively include components other than those shown.

[0114]

[0130] As shown, vehicle 900 further includes a power source 960, which may be configured to provide power to some or all of the components of vehicle 900. To this end, power source 960 may include, for example, a lithium-ion secondary battery or a lead-acid battery. In some embodiments, one or more banks of batteries may be configured to provide the power. Other power source materials and configurations are also possible. In some embodiments, power source 960 and energy source 920 may be implemented together as one component, such as in some fully electric vehicles.

[0115]

[0131] In some embodiments, vehicle 900 may include one or more elements in addition to or instead of those shown. For example, vehicle 900 may include one or more additional interfaces and / or power sources. Other additional components are possible. In such embodiments, data storage 914 may further include instructions executable by processor 912 to control and / or communicate with the additional components.

[0116]

[0132] Still further, although each of the components and systems are shown as being integrated into vehicle 900, in some embodiments one or more components or systems may be removably attached to or otherwise connected (mechanically or electrically) to vehicle 900 using wired or wireless connections. Vehicle 900 may take other forms as well.

[0117]

[0133] 10 illustrates a computer-readable medium configured according to an example embodiment. In an example embodiment, an example system may include one or more processors, one or more forms of memory, one or more input devices / interfaces, one or more output devices / interfaces, and machine-readable instructions that, when executed by the one or more processors, cause the system to perform various functional tasks, functionality, etc., as discussed above.

[0118]

[0134] In some embodiments, the disclosed techniques (such as, for example, method 1100 below) may be implemented by computer program instructions (such as, for example, instructions 916 of vehicle 900) encoded in machine-readable format on a computer-readable storage medium, or on other media or product of a manufacturer. Figure 10 is a schematic diagram illustrating a conceptual partial view of an example computer program product including a computer program for executing a computer process on a computing device, configured in accordance with at least some embodiments disclosed herein.

[0119]

[0135] In one embodiment, the example computer program product 1000 is provided using a signal bearing medium 1002. The signal bearing medium 1002 may include one or more programming instructions 1004 that, when executed by one or more processors, may provide the functionality or a portion of the functionality described above in connection with FIGS. 1-9. In some examples, the signal bearing medium 1002 may be a non-transitory computer readable medium 1006, such as, but not limited to, a hard disk drive, a compact disc (CD), a digital video disc (DVD), digital tape, a memory, etc. In some implementations, the signal bearing medium 1002 may be a computer recordable medium 1008, such as, but not limited to, a memory, a read / write (R / W) CD, a R / W DVD, etc. In some implementations, the signal bearing medium 1002 may be a communication medium 1010 (e.g., a fiber optic cable, a wave guide, a wired communication link, etc.). Thus, for example, the signal bearing medium 1002 may be conveyed by a wireless form of the communication medium 1010.

[0120]

[0136] The one or more programming instructions 1004 may be, for example, computer-executable and / or logic-implemented instructions. In some examples, a computing device may be configured to provide various operations, functions, or actions in response to programming instructions communicated to the computing device by one or more of the computer-readable medium 1006, the computer-recordable medium 1008, and / or the communication medium 1010.

[0121]

[0137] The computer-readable medium 1006 may also be distributed among multiple data storage elements, which may be located remotely from one another. The computing device that executes some or all of the stored instructions may be an external computer or a mobile computing platform, such as a smartphone, tablet device, personal computer, wearable device, etc. Alternatively, the computing device that executes some or all of the stored instructions may be a remotely located computer system, such as a server.

[0122] Example method

[0138] FIG 11 illustrates a method 1100 in accordance with an example embodiment. Method 1100 includes blocks that may be performed in any order. Additionally, various blocks may be added to or subtracted from method 1100 within the contemplation of the present disclosure. Method 1100 may correspond to steps that may be performed using any or all of the systems illustrated and described with reference to FIGS. 1A-1E, 2, 3A-3B, 4A-4B, 9, or 10.

[0123]

[0139] Block 1102 includes receiving target information by a controller of the Light Detection and Ranging (LIDAR) device. The target information may be received from another sensing device or may be based on an expected or specific location of an object. In other words, the target information may indicate at least one of a type of object, a size of the object, a shape of the object, a distance, a location, or an angular range.

[0124]

[0140] Block 1104 includes causing a light source of the LIDAR to emit light within a wavelength range, the light source including a fiber laser. As mentioned above, the light source may be configured to emit light at one or more wavelengths, for example, 1550 nm.

[0125]

[0141] Block 1106 includes causing a scanning portion of the LIDAR to move the emitted light back and forth about a first axis. The scanning portion of the LIDAR may include a movable mirror, a spring, and an actuator. The spring and actuator may be configured to move the movable mirror back and forth about the first axis at a resonant frequency. The resonant frequency may be 140 Hz or another frequency.

[0126]

[0142] Block 1108 includes rotating a rotating platform coupled to the LIDAR to adjust a pointing direction of the LIDAR in response to receiving the target information. In an example embodiment, the rotating platform is configured to rotate about a second axis. The second axis may be a vertical axis passing through the roof and floor of the vehicle. Thus, in response to receiving target information regarding a target in a particular direction of interest, the rotating platform may be configured to rotate the movable mirror such that the emitted light is pointed or steered in the particular direction of interest.

[0127]

[0143] Block 110 includes causing the LIDAR to scan a field of view (FOV) of the environment, the FOV extending along a line of sight direction away from the LIDAR. Scanning may include controlling one or both of a rotating platform and / or a movable mirror to illuminate the FOV with emitted light and receive the reflected emitted light at one or more detectors associated with the LIDAR.

[0128]

[0144] Block 1112 includes determining a three-dimensional (3D) representation of the environment based on data from the scan of the FOV. As previously described, the LIDAR system may include one or more detectors configured to receive emitted light that is reflected from objects in the environment surrounding the vehicle. In this manner, based on the received light, the LIDAR system may generate a point cloud map that may be indicative of the vehicle's environment. The point cloud map may be used for navigation, object recognition, obstacle avoidance, and / or other functions.

[0129]

[0145] The particular configuration shown in the figures should not be viewed as limiting. It should be understood that other embodiments may include more or less of each element than shown in a given figure. Further, some of the illustrated elements may be combined or excluded. Still further, example embodiments may include elements not shown in the figures.

[0130]

[0146] While various examples and embodiments have been disclosed, other examples and embodiments will be apparent to those of ordinary skill in the art. The various disclosed examples and embodiments are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.

Claims

1. 1. A light detection and ranging (LIDAR) device mounted on top of a vehicle and configured to detect objects in an environment surrounding the vehicle, the LIDAR device comprising: a light source configured to emit light; Multiple detectors and A light detection and ranging (LIDAR) device, a further sensor mounted on a portion of the vehicle different from the top, the further sensor configured to determine additional information about the object based on differences in reflectivity among a plurality of features of a surface of the object; and A controller, receiving target information based on an initial three-dimensional (3D) representation of the environment determined based on information received from the LIDAR device; making adjustments to an aiming direction of the further sensor in response to receiving the object information to determine a 3D representation of the environment based on information received from the further sensor; a controller configured to A system comprising:

2. 2. The system of claim 1, wherein the additional sensor comprises at least one of a LIDAR device separate from the LIDAR device, a RADAR device, a laser range finder, an acoustic sensor, and a camera.

3. 3. The system of claim 2, wherein the LIDAR device has a first scanning resolution and the further sensor has a second scanning resolution that is higher than the first scanning resolution.

4. The system of claim 1 , wherein the additional information includes a location of lane markings proximate to the object.

5. The system of claim 1 , wherein the object is a sign and the additional information is information displayed on the sign.

6. The system of claim 1 , wherein the object is another vehicle and the additional information is the state of a turn signal of the other vehicle.

7. The system of claim 1 , wherein the object is another vehicle and the additional information is the velocity of the other vehicle relative to the system.

8. a housing, at least a scanning portion of the LIDAR device being disposed within the housing, and a wall of the housing including an optical filter configured to allow the emitted light to propagate therethrough; a rotation stage configured to rotate at least a portion of the LIDAR device about a second axis; and The system of claim 1 further comprising:

9. 9. The system of claim 8, wherein the housing is disposed on a top side of the vehicle, the second axis includes an axis passing through the top side of the vehicle, and the rotating bed is configured to rotate about the second axis within a 360 degree range of motion.

10. The system of claim 1 , wherein making the adjustment to the aiming direction of the further sensor comprises adjusting the aiming direction of the further sensor relative to a mount of the further sensor.

11. Vehicles and a light detection and ranging (LIDAR) device configured to detect objects in an environment surrounding the vehicle, the LIDAR device coupled to an upper portion of the vehicle; a further sensor configured to determine information displayed by the object, the further sensor being coupled to a portion of the vehicle different from the top; A controller, receiving target information based on an initial three-dimensional (3D) representation of the environment determined based on information received from the LIDAR device; making adjustments to an aiming direction of the further sensor in response to receiving the object information to determine a 3D representation of the environment based on information received from the further sensor; a controller configured to Including, the system.

12. 12. The system of claim 11, wherein the additional sensor includes at least one of a LIDAR device separate from the LIDAR device, a RADAR device, a laser range finder, an acoustic sensor, and a camera.

13. The system of claim 11 , wherein the object is a sign.

14. The system of claim 11 , wherein the object is a road and the information displayed by the object is a lane marking.

15. 12. The system of claim 11, wherein at least a scanning portion of the LIDAR device is disposed within a housing, the housing is disposed on a top side of the vehicle, a second axis includes an axis passing through the top side of the vehicle, and a rotating bed configured to rotate at least a portion of the LIDAR device within a 360 degree range of motion about the second axis.

16. 16. The system of claim 15, wherein the housing includes an optical filter, the optical filter having a dome shape, and the optical filter configured to attenuate visible light propagating within the housing.

17. The system of claim 11 , wherein the target information further indicates at least one of an object type, an object size, an object shape, a position, a location, or an angular range.

Images