Foveated imaging device for automotive applications

Abstract

To provide cameras that include lenses with non-uniform distortion profiles, allowing the cameras to have non-uniform angular optical resolutions across all fields of view.SOLUTION: A device includes a rotationally symmetric foveated lens. The rotationally symmetric foveated lens is configured to receive light from an environment. The rotationally symmetric foveated lens is also configured to produce an image at an image plane based on the received light. The device also includes an image sensor having an associated image sensor resolution. The image sensor 504 is positioned at the image plane and configured to capture an image having an associated field of view of the environment. Based on a distortion profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image exhibits a first angular optical resolution 562 in a central region of the field of view and a second angular optical resolution 564 in a peripheral region of the field of view.SELECTED DRAWING: Figure 5D

Description

[Background technology]

[0001] Unless otherwise stated herein, the statements in this section are not prior art to the claims of this application and should not be admitted to be prior art by inclusion in this section.

[0002] A camera is a device used to capture images of an environment. Some cameras (e.g., film cameras) capture images chemically onto film. Other cameras (e.g., digital cameras) capture image data electronically (e.g., using an image sensor such as a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) sensor). Images captured by a camera can be analyzed to determine their content. For example, the field of computer vision includes a set of techniques used to capture data about the environment and use the data to determine information about the environment. Additionally, computer vision may be used to detect, identify, and / or avoid objects. As an example, a processor may run a machine learning algorithm to identify objects in the environment based on a library of previously classified objects, including the object's shape, color, size, etc. (e.g., such machine learning algorithms may be applied to computer vision in robotics or other applications). In some cases, computer vision may be used in vehicles operating in autonomous mode. In such applications, the camera may capture images based on which a vehicle operating in autonomous mode may make control decisions (e.g., what speed to travel, where to turn, when to stop, and when to honk the horn). Summary of the Invention

[0003] Exemplary embodiments relate to cameras that include lenses (e.g., foveated lenses) with non-uniform distortion aberration profiles. Such lenses may enable the cameras described herein to have correspondingly non-uniform angular optical resolution (and associated optical resolution) across the field of view captured by the camera's image sensor. Such non-uniformity may (i) encompass a larger field of view (e.g., horizontally or vertically) than would be possible without incorporating such lenses, and / or (ii) enable captured images to have improved resolution in one or more regions of interest and reduced resolution in other regions.

[0004] In a first aspect, an apparatus is provided. The apparatus includes a rotationally symmetric foveated lens. The rotationally symmetric foveated lens is configured to receive light from an environment. The rotationally symmetric foveated lens is also configured to generate an image at an image plane based on the received light. The device also includes an image sensor having an associated image sensor resolution. The image sensor is positioned at the image plane and configured to capture an image having an associated field of view of the environment. Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image exhibits a first angular optical resolution in a central region of the field of view. Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image also exhibits a second angular optical resolution in a peripheral region of the field of view. Furthermore, based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image exhibits an intermediate angular optical resolution in an intermediate region of the field of view. The intermediate region of the field of view is between the central region of the field of view and the peripheral region of the field of view. The first angular optical resolution is improved relative to the second angular optical resolution. The intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution.

[0005] In a second aspect, a method is provided. The method includes receiving light from an environment with a rotationally symmetric foveated lens. The method also includes generating an image at an image plane based on the light received by the rotationally symmetric foveated lens. The method further includes capturing an image having an associated field of view of the environment with an image sensor having an associated image sensor resolution. The image sensor is positioned at the image plane. Based on the distortion aberration profile and the image sensor resolution of the rotationally symmetric foveated lens, the captured image exhibits a first angular optical resolution in a central region of the field of view. Based on the distortion aberration profile and the image sensor resolution of the rotationally symmetric foveated lens, the captured image also exhibits a second angular optical resolution in a peripheral region of the field of view. Furthermore, based on the distortion aberration profile and the image sensor resolution of the rotationally symmetric foveated lens, the captured image exhibits an intermediate angular optical resolution in an intermediate region of the field of view. The intermediate region of the field of view is between the central region of the field of view and the peripheral region of the field of view. The first angular optical resolution is improved relative to the second angular optical resolution. The intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution.

[0006] In a third aspect, a vehicle is provided. The vehicle includes a camera. The camera includes a rotationally symmetric foveated lens. The rotationally symmetric foveated lens is configured to receive light from an environment. The rotationally symmetric foveated lens is also configured to generate an image at an image plane based on the received light. The camera also includes an image sensor having an associated image sensor resolution. The image sensor is positioned at the image plane and configured to capture an image having an associated field of view of the environment. Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image exhibits a first angular optical resolution in a central region of the field of view. Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image also exhibits a second angular optical resolution in a peripheral region of the field of view. Furthermore, based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image exhibits an intermediate angular optical resolution in an intermediate region of the field of view. The intermediate region of the field of view is between the central region of the field of view and the peripheral region of the field of view. The first angular optical resolution is improved relative to the second angular optical resolution. The intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution.

[0007] These and other aspects, advantages, and alternatives will become apparent to those skilled in the art from a reading of the following detailed description, where appropriate with reference to the accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a functional block diagram illustrating a vehicle, in accordance with an exemplary embodiment. [Figure 2A] FIG. 2A is an illustrative diagram of a vehicle's physical configuration, according to an exemplary embodiment. [Figure 2B] FIG. 2B is an illustrative diagram of a vehicle's physical configuration, according to an exemplary embodiment. [Figure 2C] FIG. 2C is an illustrative diagram of a vehicle's physical configuration, in accordance with an exemplary embodiment. [Figure 2D] FIG. 2D is an illustrative diagram of a vehicle's physical configuration in accordance with an exemplary embodiment. [Figure 2E] FIG. 2E is an illustrative diagram of a vehicle's physical configuration, in accordance with an exemplary embodiment. [Figure 2F] FIG. 2F is an illustrative diagram of a vehicle's physical configuration, according to an exemplary embodiment. [Figure 2G] FIG. 2G is an illustrative diagram of a vehicle's physical configuration in accordance with an exemplary embodiment. [Figure 2H] FIG. 2H is an illustrative diagram of a vehicle's physical configuration, in accordance with an exemplary embodiment. [Figure 2I] FIG. 2I is an illustrative diagram of a vehicle's physical configuration, in accordance with an exemplary embodiment. [Figure 2J] FIG. 2J is an illustrative diagram of the fields of view of various sensors in accordance with an illustrative embodiment. [Figure 2K] FIG. 2K is an illustrative diagram of beam steering relative to a sensor in accordance with an example embodiment. [Figure 3] FIG. 3 is a conceptual, illustrative diagram of wireless communication between various computing systems associated with an autonomous or semi-autonomous vehicle, in accordance with an example embodiment. [Figure 4A] FIG. 4A is a block diagram of a system including a LIDAR device, in accordance with an exemplary embodiment. [Figure 4B] FIG. 4B is a block diagram of a LIDAR device in accordance with an exemplary embodiment. [Figure 5A] FIG. 5A is an illustration of a camera capturing an image of an environment in accordance with an illustrative embodiment. [Figure 5B] FIG. 5B is a simplified diagram of a camera capturing an image of an environment, according to an example embodiment. [Figure 5C] FIG. 5C is a cutaway side view of a foveated lens and image sensor according to an exemplary embodiment. [Figure 5D] FIG. 5D is a conceptual diagram of a camera capturing an image of an environment in accordance with an illustrative embodiment. [Figure 5E]FIG. 5E is a simplified diagram of a camera capturing an image of an environment, according to an illustrative embodiment. [Figure 6A] FIG. 6A is a plot of angular optical resolution of a camera including a foveated lens, according to an example embodiment. [Figure 6B] FIG. 6B is a plot of angular optical resolution of a camera including a foveated lens, according to an example embodiment. [Figure 7] FIG. 7 is an illustration of a field of view of a camera including a foveated lens, in accordance with an exemplary embodiment. [Figure 8] FIG. 8 is a flowchart illustration of a method according to an example embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Exemplary methods and systems are contemplated herein. Any illustrative embodiment or example feature described herein should not necessarily be construed as preferred or advantageous over other embodiments or features. Moreover, the illustrative embodiments described herein are not meant to be limiting. It will be readily understood that certain aspects of the disclosed systems and methods can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein. Additionally, the specific arrangements shown in the figures should not be considered limiting. It should be understood that other embodiments can include more or fewer of each element shown in a given figure. Additionally, some of the illustrated elements can be combined or omitted. Still further, exemplary embodiments may include elements not illustrated in the figures.

[0010] The LIDAR devices described herein may include one or more light emitting elements and one or more detectors used to detect light emitted by the one or more light emitting elements and reflected by one or more objects in an environment surrounding the LIDAR device. As an example, the surrounding environment may include an interior or exterior environment, such as the inside or outside of a building. Additionally or alternatively, the surrounding environment may include the interior of a vehicle. Still further, the surrounding environment may include the surroundings around and / or on a road. Examples of objects in the surrounding environment include, but are not limited to, other vehicles, traffic signs, pedestrians, bicyclists, road surfaces, buildings, terrain, etc. Additionally, the one or more light emitting elements may emit light into the local environment of the LIDAR itself. For example, light emitted from the one or more light emitting elements may interact with the housing of the LIDAR and / or surfaces or structures coupled to the LIDAR. In some cases, the LIDAR may be mounted on a vehicle, in which case the one or more light emitting elements may be configured to emit light that interacts with objects within the vicinity of the vehicle. The light emitting elements may include fiber optic amplifiers, laser diodes, light emitting diodes (LEDs), among other possibilities.

[0011] Cameras can have various characteristics that can distinguish one camera from another. For example, cameras and / or images captured by the cameras can be identified by values ​​such as aperture size, f-number, exposure duration / shutter speed, depth of field, focal length, International Organization for Standardization (ISO) sensitivity (or gain), pixel size, sensor resolution, etc. These characteristics may be based on the lens, image sensor, and / or additional components of the camera. Furthermore, these characteristics may also be adjustable within a single camera (e.g., the aperture of a lens on a camera can be adjusted between photos). Furthermore, one or more lenses in a camera can introduce a certain amount of distortion into images captured by the camera. Traditionally, lenses can have undesirable distortion as a result of one or more countervailing design constraints, and correcting for such undesirable distortion can be difficult without significantly increasing the complexity of the camera.

[0012] In some applications (e.g., computer vision applications), it may be desirable to capture one or more images having a relatively wide field of view. For example, object detection and avoidance performed on a vehicle operating in an autonomous or semi-autonomous mode (e.g., a vehicle including one or more advanced driver assistance systems (ADAS)) may include capturing images including a field of view of the surrounding environment spanning an azimuth range of approximately 120° and an elevation range of approximately 45°. Such a field of view may include vehicles, traffic signs, traffic signals, road surfaces, pedestrians, hazards, and / or other objects ahead of the vehicle (e.g., relative to the vehicle's direction of travel), behind the vehicle (e.g., relative to the vehicle's direction of travel), and / or partially adjacent to the vehicle (e.g., relative to the vehicle's direction of travel). Furthermore, in some applications, the desired angular optical resolution and associated resolution may not be constant across the entire field of view. Returning to the vehicle example, it may be desirable to increase the angular optical resolution in a portion of the field of view immediately in front of the vehicle (e.g., to increase object detectability based on the captured image) when making object avoidance decisions relative to portions of the field of view adjacent to the vehicle (e.g., corresponding to objects not in the vehicle's path).

[0013] To accommodate these different angular optical resolutions and associated resolution constraints, some techniques involve using multiple cameras to capture multiple images (e.g., simultaneously). For example, a first camera (e.g., a telephoto lens) with a lens having lower distortion may be used to capture an image based on a central region of the field of view, and a second camera (e.g., a wide-angle lens) with a lens having higher distortion may be used to capture a different image based on a peripheral region of the field of view. In some cases, these images can be stitched together to generate a composite image of the surrounding environment. However, such techniques may have certain drawbacks. First, such techniques essentially involve two separate cameras, each including its own image sensor and lens. Because two separate cameras are used, it may be difficult to align the separately captured images (e.g., within the composite image) to ensure a continuous field of view is presented. Furthermore, using two separate cameras may increase the financial cost and / or time required to fabricate / prepare the system. Furthermore, it may be difficult to ensure that both images are captured at exactly the same time in applications where such simultaneous capture is desired. Still further, such techniques involve a two-component distortion aberration profile. That is, a uniform distortion is provided by a first lens (e.g., a telephoto lens) to produce a first image, and a different uniform distortion is provided by a second lens (e.g., a wide-angle lens) to produce a second image. It may be desirable to have a distortion gradient (rather than two discrete distortions) to transition from a desired distortion in the central portion of the field of view to a desired distortion in the peripheral portion of the field of view.

[0014] Exemplary embodiments disclosed herein address many of the above-mentioned shortcomings. In particular, exemplary embodiments may include a camera used to capture images of an environment (e.g., an environment surrounding a vehicle). The camera may include a foveated lens used to generate an image at an image plane detected by an image sensor. The foveated lens may include a distortion aberration profile having a first distortion corresponding to a central region of the field of view and a second distortion (e.g., −55%, −60%, −65%, −70%, −75%, or −80%) measured from f tan(θ), where f is a focal length corresponding to a peripheral region of the field of view. The first distortion may be less than the second distortion (i.e., the absolute value of the second distortion may be greater than the absolute value of the first distortion). For example, the first distortion may be 0%, −5%, −10%, −15%, or −20%. Furthermore, the central region of the field of view may correspond to a forward or reverse direction of the vehicle (e.g., the direction of travel of the vehicle). Unlike alternative techniques, the techniques described herein can capture a relatively wide field of view (e.g., 120° in azimuth and 45° in elevation) using only a single camera (having a single lens) while maintaining a non-uniform distortion aberration profile across the field of view. Furthermore, using a foveated lens with an associated image sensor (e.g., an image sensor having a relatively high image sensor resolution, such as 15 megapixels (MP) to 20 MP), a single image can be captured that spans the entire field of view of the surrounding environment but also includes different angular optical resolutions (e.g., measured in degrees / pixel or radians / pixel) in different regions of the field of view (e.g., corresponding to the distortion aberration profile across the foveated lens).

[0015] In some embodiments (e.g., for ease of manufacturing and / or installation), a foveated lens may be rotationally symmetric. This may include a foveated lens that is physically rotationally symmetric (e.g., one or more lens elements of the foveated lens have a rotationally isotropic shape about a major axis of the foveated lens and / or have rotationally isotropic material properties about a major axis of the foveated lens). Additionally or alternatively, a rotationally symmetric foveated lens may include a foveated lens that exhibits a distortion aberration profile that is rotationally isotropic about a major axis of the foveated lens.

[0016] In some embodiments, the foveated lens may be a lens assembly. For example, the foveated lens may include multiple lens elements positioned relative to the aperture and / or inside a lens holder (e.g., made of aluminum, such as an aluminum alloy like 6061-T6). In some embodiments, the lens assembly may include one or more aspheric lens elements. For example, the lens assembly may include a first aspheric lens (e.g., having positive refractive power) positioned near the entrance to the foveated lens and a second aspheric lens (e.g., having negative refractive power) positioned near the image sensor. In such embodiments, the aperture stop of the foveated lens may be located between the two aspheric lenses. The foveated lens may include lens elements made using molded optical plastic (e.g., polymer). However, in some embodiments (e.g., for improved stability or thermal performance), one or more lens elements of the lens assembly may instead be made from molded optical glass. In such embodiments, the lens elements may be designed to have a diameter of less than 25 mm. Additionally or alternatively, one or more components of the foveated lens (e.g., one or more of the individual lens elements in the lens assembly) may be made from a material that enhances athermalization and / or may be formed in a manner that enhances athermalization.

[0017] Additionally, to ensure sufficient angular optical resolution (and corresponding resolution) across the image sensor (e.g., based on the designed distortion aberration profile of the foveated lens), the image sensor may have a relatively high resolution (e.g., 13MP, 14MP, 15MP, 16MP, 17MP, 18MP, 19MP, 20MP, or more). Additionally, to capture the entire field of view produced at the image plane, the image sensor may have an aspect ratio of 2:1 (width:height) or greater. These design features, combined with the distortion aberration profile of the foveated lens described above, can support an angular optical resolution of less than 250 μrad / pixel (e.g., less than 225 μrad / pixel, less than 200 μrad / pixel, less than 175 μrad / pixel, less than 150 μrad / pixel, less than 125 μrad / pixel, or less than 100 μrad / pixel) in the central portion of the field of view and / or greater than 300 μrad / pixel (e.g., greater than 400 μrad / pixel, greater than 500 μrad / pixel, greater than 600 μrad / pixel, greater than 700 μrad / pixel, greater than 800 μrad / pixel, greater than 900 μrad / pixel, or greater than 1000 μrad / pixel) in the peripheral portion of the field of view.

[0018] Additionally or alternatively, in some embodiments, it may be desirable to offset the field of view relative to the surrounding environment (e.g., relative to the major axis of the foveated lens). For example, in automotive applications, it may be beneficial to have an asymmetry in elevation relative to the horizon (e.g., to capture additional content at higher elevation angles and less content at lower elevation angles, such as capturing traffic lights at 30° relative to the horizon and capturing road surfaces at −15° relative to the horizon). In such cases, the image sensor may be positioned offset from the center relative to the major axis of the foveated lens. For example, the vertical center of the image sensor may be positioned vertically below (e.g., 0.5 mm below, 1.0 mm below, or 1.5 mm below) the major axis of the foveated lens to offset the elevation angle range of the captured field of view. Horizontal offsets relative to the major axis of the foveated lens are also possible and are contemplated herein.

[0019] The following description and accompanying drawings highlight features of various exemplary embodiments. The embodiments provided are by way of example and are not intended to be limiting. Accordingly, dimensions of the drawings are not necessarily to scale.

[0020] Exemplary systems within the scope of the present disclosure will now be described in more detail. The exemplary system may be implemented in or take the form of an automobile. Additionally, the exemplary system may also be implemented in or take the form of a variety of vehicles, such as automobiles, trucks (e.g., pickup trucks, vans, tractors, and tractor-trailers), motorcycles, buses, airplanes, helicopters, drones, lawn mowers, bulldozers, boats, submarines, all-terrain vehicles, snowmobiles, aircraft, recreational vehicles, amusement park vehicles, farm equipment or vehicles, construction machinery or vehicles, warehouse equipment or vehicles, factory equipment or vehicles, trams, golf carts, trains, trolleys, walkway transport vehicles, robotic devices, etc. Other vehicles are possible as well. Furthermore, in some embodiments, the exemplary system may not include a vehicle.

[0021] Referring now to the figures, FIG. 1 is a functional block diagram illustrating an example vehicle 100 that may be configured to operate fully or partially in an autonomous mode. More specifically, vehicle 100 may operate in the autonomous mode without human interaction through receiving control instructions from a computing system. As part of its operation in the autonomous mode, vehicle 100 may use sensors to detect and possibly identify objects in the surrounding environment to enable safe navigation. Additionally, example vehicle 100 may operate in a partially autonomous (i.e., semi-autonomous) mode in which some functions of vehicle 100 are controlled by a human driver of vehicle 100 and some functions of vehicle 100 are controlled by a computing system. For example, vehicle 100 may also include subsystems that enable the driver to control the operation of vehicle 100, such as steering, acceleration, and braking, while the computing system performs assistance functions, such as lane departure warning / lane keeping assist or adaptive cruise control, based on other objects (e.g., vehicles) in the surrounding environment.

[0022] As described herein, in a partially autonomous driving mode, the vehicle assists with one or more driving operations (e.g., steering, braking, and / or accelerating to perform lane centering, adaptive cruise control, advanced driver assistance systems (ADAS), and emergency braking), but the human driver is expected to maintain situational awareness of the vehicle's surroundings and supervise the assisted driving operations. Here, the vehicle may perform all driving tasks in certain situations, but the human driver is expected to be responsible for assuming control as needed.

[0023] For simplicity and brevity, various systems and methods are described below in conjunction with autonomous vehicles; however, these or similar systems and methods may be used in various driver assistance systems that fall short of a fully autonomous driving system (i.e., a partially autonomous driving system). In the United States, the Society of Automotive Engineers (SAE) defines different levels of automated driving behavior to indicate how much or how little control the vehicle has over the driving; however, different organizations in the United States or other countries may classify the levels differently. More specifically, the disclosed systems and methods may be used in SAE Level 2 driver assistance systems that implement steering, braking, acceleration, lane centering, adaptive cruise control, and other driver support. The disclosed systems and methods may be used in SAE Level 3 driver assistance systems that are capable of autonomous driving under limited (e.g., highway) conditions. Similarly, the disclosed systems and methods may be used in vehicles using SAE Level 4 automated driving systems, which operate autonomously under most normal driving conditions and require only occasional attention from a human operator. In all such systems, accurate lane estimation is performed automatically without driver input or control (e.g., while the vehicle is moving), resulting in improved reliability of vehicle positioning and navigation, and overall safety of autonomous, semi-autonomous, and other driver assistance systems. As noted above, in addition to the manner in which the SAE classifies levels of autonomous driving operation, other organizations in the United States or other countries may classify levels of autonomous driving operation differently. Without limitation, the systems and methods disclosed herein may be used with driver assistance systems defined by these other organizations' levels of autonomous driving operation.

[0024] 1 , vehicle 100 may include various subsystems, such as propulsion system 102, sensor system 104, control system 106, one or more peripheral devices 108, power source 110, computer system 112 (which may also be referred to as a computing system) having data storage 114, and user interface 116. In other examples, vehicle 100 may include more or fewer subsystems, each of which may include multiple elements. The subsystems and components of vehicle 100 may be interconnected in various ways. Additionally, the functionality of vehicle 100 described herein may be divided into additional functional or physical components or combined into fewer functional or physical components within an embodiment. For example, control system 106 and computer system 112 may be combined into a single system that operates vehicle 100 according to various operations.

[0025] Propulsion system 102 may include one or more components operable to provide powered motion for vehicle 100 and may include, among other possible components, an engine / motor 118, an energy source 119, a transmission 120, and wheels / tires 121. For example, engine / motor 118 may be configured to convert energy source 119 into mechanical energy and may correspond to one or a combination of an internal combustion engine, an electric motor, a steam engine, or a Stirling engine, among other possible options. For example, in some embodiments, propulsion system 102 may include multiple types of engines and / or motors, such as gasoline engines and electric motors.

[0026] Energy source 119 represents an energy source that may fully or partially power one or more systems (e.g., engine / motor 118) of vehicle 100. For example, energy source 119 may correspond to gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and / or other power sources. In some embodiments, energy source 119 may include a combination of a fuel tank, batteries, a capacitor, and / or a flywheel.

[0027] The transmission 120 may transfer mechanical power from the engine / motor 118 to the wheels / tires 121 and / or other possible systems of the vehicle 100. Accordingly, the transmission 120 may include, among other possible components, a gearbox, a clutch, a differential, and a drive shaft. The drive shaft may include an axle that connects to one or more wheels / tires 121.

[0028] The wheels / tires 121 of the vehicle 100 may have a variety of configurations within the exemplary embodiment. For example, the vehicle 100 may exist in the form of a unicycle, a bicycle / motorcycle, a tricycle, or four wheels of a car / truck, among other possible configurations. Thus, the wheels / tires 121 may be connected to the vehicle 100 in a variety of ways and may exist in different materials, such as metal and rubber.

[0029] The sensor system 104 may include various types of sensors, such as a global positioning system (GPS) 122, an inertial measurement unit (IMU) 124, radar 126, LIDAR 128, a camera 130, a steering sensor 123, and a throttle / brake sensor 125, among other possible sensors. In some embodiments, the sensor system 104 may also include sensors configured to monitor internal systems of the vehicle 100 (e.g., an O monitor, a fuel gauge, engine oil temperature, and brake wear).

[0030] The GPS 122 may include a transceiver operable to provide information regarding the position of the vehicle 100 relative to the Earth. The IMU 124 may be configured to use one or more accelerometers and / or gyroscopes to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. For example, the IMU 124 may detect the pitch and yaw of the vehicle 100 while the vehicle 100 is stationary or moving.

[0031] Radar 126 may represent one or more systems configured to sense objects in the environment surrounding vehicle 100 using radio signals, including the object's speed and orientation. Thus, radar 126 may include an antenna configured to transmit and receive radio signals. In some embodiments, radar 126 may correspond to an attachable radar configured to obtain measurements of the environment surrounding vehicle 100.

[0032] The LIDAR 128 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components, and may operate in a coherent mode (e.g., using heterodyne detection, etc.) or an incoherent detection mode (i.e., time-of-flight mode). In some embodiments, the one or more detectors of the LIDAR 128 may include one or more photodetectors, which may be particularly sensitive detectors (e.g., avalanche photodiodes). In some examples, such photodetectors may be capable of detecting single photons (e.g., single-photon avalanche diodes (SPADs)). Furthermore, such photodetectors may be arranged in an array (e.g., through serial electrical connections), such as with silicon photomultiplier tubes (SiPMs). In some examples, the one or more photodetectors are devices operating in Geiger mode, and the LIDAR includes subcomponents designed for such Geiger mode operation.

[0033] Camera 130 may include one or more devices (eg, a still camera, a video camera, a thermal imaging camera, a stereo camera, and a night vision camera) configured to capture images of the environment surrounding vehicle 100.

[0034] Steering sensor 123 may sense the steering angle of vehicle 100, which may include measuring the angle of the steering wheel or measuring an electrical signal representative of the angle of the steering wheel. In some embodiments, steering sensor 123 may measure the angle of the wheels of vehicle 100, such as detecting the angle of the wheels relative to the forward axle of vehicle 100. Steering sensor 123 may also be configured to measure a combination (or subset) of the steering wheel angle, the electrical signal representative of the steering wheel angle, and the angle of the wheels of vehicle 100.

[0035] The throttle / brake sensor 125 may detect the position of either the throttle or the brake of the vehicle 100. For example, the throttle / brake sensor 125 may measure the angle of both the accelerator (throttle) and brake pedals, or may measure an electrical signal representative of, for example, the accelerator (throttle) and / or brake pedal angle. The throttle / brake sensor 125 may also measure the angle of a throttle body of the vehicle 100, which may include part of the physical mechanism that provides modulation of the energy source 119 to the engine / motor 118 (e.g., a butterfly valve and a carburetor). Additionally, the throttle / brake sensor 125 may measure the pressure of one or more brake pads on a rotor of the vehicle 100, or a combination (or subset) of the accelerator (throttle) and brake pedal angles, an electrical signal representative of the accelerator (throttle) and brake pedal angles, the throttle body angle, and the pressure applied by at least one brake pad to a rotor of the vehicle 100. In other embodiments, the throttle / brake sensor 125 may be configured to measure pressure applied to a vehicle pedal, such as a throttle or brake pedal.

[0036] The control system 106 may include components configured to assist in navigating the vehicle 100, such as a steering unit 132, a throttle 134, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a navigation / pathfinding system 142, and an obstacle avoidance system 144. More specifically, the steering unit 132 may be operable to adjust the heading of the vehicle 100, and the throttle 134 may control the operating speed of the engine / motor 118 to control the acceleration of the vehicle 100. The braking unit 136 can decelerate the vehicle 100, which may involve slowing the wheels / tires 121 using friction. In some embodiments, the braking unit 136 may convert the kinetic energy of the wheels / tires 121 into electrical current for subsequent use by one or more systems of the vehicle 100.

[0037] The sensor fusion algorithm 138 may include a Kalman filter, a Bayesian network, or other algorithm capable of processing data from the sensor system 104. In some embodiments, the sensor fusion algorithm 138 may provide an assessment based on the incoming sensor data, such as an assessment of individual objects and / or features, an assessment of a particular situation, and / or an assessment of possible effects within a given situation.

[0038] Computer vision system 140 may include hardware and software (e.g., a general-purpose processor such as a central processing unit (CPU), a special-purpose processor such as a graphics processing unit (GPU) or a tensor processing unit (TPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), volatile memory, non-volatile memory, or one or more machine learning models) operable to process and analyze images to determine moving objects (e.g., other vehicles, pedestrians, bicyclists, or animals) and non-moving objects (e.g., road lights, roadway boundaries, speed bumps, or potholes). Thus, computer vision system 140 may employ object recognition, structure-from-motion (SFM), video tracking, and other algorithms used in computer vision, for example, to recognize objects, map the environment, track objects, estimate object speed, etc.

[0039] Navigation / routing system 142 may determine a driving path for vehicle 100, which may involve dynamically adjusting navigation during operation. Thus, navigation / routing system 142 may use data from sensor fusion algorithms 138, GPS 122, and maps, among other sources, to navigate vehicle 100. Obstacle avoidance system 144 may evaluate potential obstacles based on sensor data and cause systems of vehicle 100 to avoid or otherwise navigate the potential obstacles.

[0040] 1 , vehicle 100 may also include peripherals 108, such as a wireless communication system 146, a touchscreen 148, an internal microphone 150, and / or a speaker 152. Peripherals 108 may provide controls or other elements for a user to interact with a user interface 116. For example, touchscreen 148 may provide information to a user of vehicle 100. User interface 116 may also accept input from a user via touchscreen 148. Peripherals 108 may also enable vehicle 100 to communicate with devices, such as devices in other vehicles.

[0041] The wireless communication system 146 may communicate with one or more devices directly or wirelessly via a communication network. For example, the wireless communication system 146 may use 3G cellular communications such as Code Division Multiple Access (CDMA), Evolution Data Optimized (EVDO), Global System for Mobile Communications (GSM) / General Packet Radio Service (GPRS), or 4G Worldwide Interoperability for Microwave Access (WiMAX) or Long Term Evolution (LTE), or 5G. Alternatively, the wireless communication system 146 may communicate with a wireless local area network (WLAN) using Wi-Fi or other possible connections. The wireless communication system 146 may also communicate directly with devices using, for example, an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, are possible within the context of this disclosure. For example, the wireless communication system 146 may include one or more dedicated short-range communication (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside gas stations.

[0042] Vehicle 100 may include a power source 110 for powering its components. Power source 110, in some embodiments, may include a rechargeable lithium-ion or lead-acid battery. For example, power source 110 may include one or more batteries configured to provide power. Vehicle 100 may also use other types of power sources. In an exemplary embodiment, power source 110 and energy source 119 may be integrated into a single energy source.

[0043] Vehicle 100 may also include a computer system 112 for performing operations such as those described therein. Accordingly, computer system 112 may include at least one processor 113 (which may include at least one microprocessor) operable to execute instructions 115 stored in a non-transitory computer-readable medium, such as data storage 114. In some embodiments, computer system 112 may represent multiple computing devices that may function to control individual components or subsystems of vehicle 100 in a distributed manner.

[0044] In some embodiments, data storage 114 may include instructions 115 (e.g., program logic) executable by processor 113 for performing various functions of vehicle 100, including those described above in connection with Figure 1. Data storage 114 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 102, sensor system 104, control system 106, and peripherals 108.

[0045] In addition to instructions 115, data storage 114 may store data such as road maps, route information, etc., among other information. Such information may be used by vehicle 100 and computer system 112 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0046] Vehicle 100 may include a user interface 116 for providing information to or receiving input from a user of vehicle 100. User interface 116 may control or allow control of the layout of content and / or interactive images that may be displayed on touchscreen 148. Additionally, user interface 116 may include one or more input / output devices in the set of peripherals 108, such as wireless communication system 146, touchscreen 148, microphone 150, and speaker 152.

[0047] Computer system 112 may control functions of vehicle 100 based on inputs received from various subsystems (e.g., propulsion system 102, sensor system 104, or control system 106) and from user interface 116. For example, computer system 112 may utilize inputs from sensor system 104 to estimate outputs generated by propulsion system 102 and control system 106. Depending on the embodiment, computer system 112 may be operable to monitor many aspects of vehicle 100 and its subsystems. In some embodiments, computer system 112 may disable some or all functions of vehicle 100 based on signals received from sensor system 104.

[0048] Components of vehicle 100 may be configured to function in an interconnected manner with other components within or outside their respective systems. For example, in an exemplary embodiment, camera 130 may capture multiple images that may represent information about the state of the environment surrounding vehicle 100 operating in an autonomous or semi-autonomous mode. The state of the environment may include parameters of the road on which the vehicle is operating. For example, computer vision system 140 may be capable of recognizing slopes (gradients) or other features based on multiple images of the road. Additionally, the combination of GPS 122 and features recognized by computer vision system 140 may be used along with map data stored in data storage 114 to determine specific road parameters. Furthermore, radar 126 and / or LIDAR 128, and / or some other environmental mapping, range, and / or positioning sensor system may also provide information about the vehicle's surroundings.

[0049] In other words, a combination of various sensors (which may be referred to as input indicator sensors and output indicator sensors) and computer system 112 may interact to provide an indication of the inputs or surroundings of the vehicle that are provided to control the vehicle.

[0050] In some embodiments, computer system 112 may make decisions regarding various objects based on data provided by systems other than a wireless system. For example, vehicle 100 may have laser or other optical sensors configured to sense objects within the vehicle's field of view. Computer system 112 may use output from the various sensors to determine information about objects within the vehicle's field of view and may determine distance and direction information to the various objects. Computer system 112 may also determine whether an object is desirable or undesirable based on output from the various sensors.

[0051] 1 depicts various components of vehicle 100 (i.e., wireless communication system 146, computer system 112, data storage 114, and user interface 116) as being integrated into vehicle 100, one or more of these components may be separately mounted or associated with vehicle 100. For example, data storage 114 may exist partially or completely separate from vehicle 100. Thus, vehicle 100 may be provided in the form of device elements that may be located separately or together. The device elements that make up vehicle 100 may be communicatively coupled together in a wired and / or wireless manner.

[0052] 2A-2E show an example vehicle 200 (e.g., a fully autonomous or semi-autonomous vehicle) that may include some or all of the functionality described in connection with vehicle 100 with reference to FIG. 1. Vehicle 200 is illustrated in FIGS. 2A-2E as a van with side mirrors for illustrative purposes, but the present disclosure is not so limited. For example, vehicle 200 may represent a truck, a passenger car, a semi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, an agricultural vehicle, or any other vehicle described elsewhere herein (e.g., a bus, a boat, an airplane, a helicopter, a drone, a lawn mower, a bulldozer, a submarine, an all-terrain vehicle, a snowmobile, an aircraft, a recreational vehicle, an amusement park vehicle, farm equipment, construction machinery or vehicles, warehouse equipment or vehicles, factory equipment or vehicles, a tram, a train, a trolley, a walkway transport vehicle, and a robotic device).

[0053] Exemplary vehicle 200 may include one or more sensor systems 202, 204, 206, 208, 210, 212, 214, and 218. In some embodiments, sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may represent one or more optical systems (e.g., cameras), one or more LIDARs, one or more radars, one or more inertial sensors, one or more humidity sensors, one or more acoustic sensors (e.g., microphones and sonar devices), or one or more other sensors configured to sense information about the environment surrounding vehicle 200. In other words, any sensor system now known or hereafter created may be coupled to vehicle 200 and / or utilized in conjunction with various operations of vehicle 200. As an example, LIDAR may be utilized for autonomous driving or other types of navigation, planning, perception, and / or mapping operations of vehicle 200. Additionally, sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may represent a combination of sensors described herein (e.g., one or more LIDARs and radars, one or more LIDARs and cameras, one or more cameras and radars, one or more LIDARs, cameras, and radars).

[0054] 2A-E are intended as non-limiting examples of the locations, numbers, and types of such sensor systems in an autonomous or semi-autonomous vehicle. Alternative numbers, locations, types, and configurations of such sensors are possible (e.g., to accommodate vehicle size, shape, aerodynamics, fuel economy, aesthetics, or other requirements to reduce cost or suit a particular environment or application). For example, sensor systems (e.g., 202 and 204) may be disposed in various other locations on the vehicle (e.g., at location 216) and may have fields of view corresponding to the interior and / or surrounding environment of vehicle 200.

[0055] Sensor system 202 may include one or more sensors mounted on top of vehicle 200 and configured to detect information about the environment surrounding vehicle 200 and output an indication of the information. For example, sensor system 202 may include any combination of cameras, radar, LIDAR, inertial sensors, humidity sensors, and acoustic sensors (e.g., microphones and sonar devices). Sensor system 202 may include one or more movable mounts that may be operable to adjust the orientation of one or more sensors in sensor system 202. In one embodiment, the movable mount may include a rotating platform that can scan the sensors to obtain information from each direction around vehicle 200. In another embodiment, the movable mount of sensor system 202 may be movable in a scanning manner within a specific angular and / or azimuth and / or elevation angle range. Sensor system 202 may be mounted on the roof of a vehicle, although other mounting locations are also possible.

[0056] Additionally, the sensors of sensor system 202 may be distributed at various locations and need not be co-located at a single location. Further, each sensor of sensor system 202 may be configured to be moved or scanned independently of the other sensors of sensor system 202. Additionally or alternatively, multiple sensors may be mounted at one or more of sensor locations 202, 204, 206, 208, 210, 212, 214, and / or 218. For example, there may be two LIDAR devices mounted at a sensor location, and / or there may be one LIDAR device and one radar mounted at a sensor location.

[0057] One or more of the one or more sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may include one or more LIDAR devices. For example, a LIDAR device may include multiple light emitter devices arranged over a range of angles relative to a given plane (e.g., the x-y plane). For example, one or more of sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may be configured to rotate or pivot about an axis perpendicular to the given plane (e.g., the z-axis) to illuminate the environment surrounding vehicle 200 with light pulses. Based on detecting various aspects of the reflected light pulses (e.g., the elapsed time of flight, polarization, and intensity), information about the surrounding environment may be determined.

[0058] In an exemplary embodiment, sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may be configured to provide respective point cloud information that may be associated with physical objects within the surrounding environment of vehicle 200. While vehicle 200 and sensor systems 202, 204, 206, 208, 210, 212, 214, and 218 are illustrated as including particular features, it will be understood that other types of sensor systems are contemplated within the scope of the present disclosure. Additionally, exemplary vehicle 200 may include any of the components described in connection with vehicle 100 of FIG. 1 .

[0059] In an exemplary configuration, one or more radars may be located on vehicle 200. Similar to radar 126 described above, the one or more radars may include an antenna configured to transmit and receive radio waves (e.g., electromagnetic waves having frequencies between 30 Hz and 300 GHz). Such radio waves may be used to determine the distance and / or speed of one or more objects in the vehicle 200's surrounding environment. For example, one or more sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may include one or more radars. In some examples, one or more radars may be located near the rear of vehicle 200 (e.g., sensor systems 208 and 210) to actively scan the environment near the rear of vehicle 200 for the presence of radio wave-reflecting objects. Similarly, one or more radars may be located near the front of vehicle 200 (e.g., sensor systems 212 and 214) to actively scan the environment near the front of vehicle 200. The radar may be positioned in a location suitable for illuminating an area including the forward path of vehicle 200, for example, without being obstructed by other features of vehicle 200. For example, the radar may be embedded in and / or mounted on or near the front bumper, front headlights, cowl, and / or hood, etc. Furthermore, one or more additional radars may be positioned to actively scan the sides and / or rear of vehicle 200 for the presence of radio wave reflective objects, such as by including such devices on or near the rear bumper, side panels, rocker panels, and / or undercarriage, etc.

[0060] Vehicle 200 may include one or more cameras. For example, one or more sensor systems 202, 204, 206, 208, 210, 212, 214, and / or 218 may include one or more cameras. The cameras may be light-sensitive devices, such as still cameras, video cameras, thermal imaging cameras, stereo cameras, night-vision cameras, etc., configured to capture multiple images of the environment surrounding vehicle 200. To this end, the cameras may be configured to detect visible light and, additionally or alternatively, may be configured to detect light from other parts of the spectrum, such as infrared or ultraviolet light. The cameras may be two-dimensional detectors and, optionally, may have a sensitivity range in three-dimensional space. In some embodiments, the cameras may include range detectors configured to generate two-dimensional images indicating, for example, the distance from the camera to points in the surrounding environment. To this end, the cameras may use one or more range-sensing techniques. For example, the camera can provide range information by using structured light techniques, in which the vehicle 200 illuminates objects in the surrounding environment with a predetermined light pattern, such as a grid or checkerboard pattern, and uses the camera to detect reflections of the predetermined light pattern from the surrounding environment. Based on distortion aberrations in the reflected light pattern, the vehicle 200 can determine the distance to a point on the object. The predetermined light pattern may include infrared light or other wavelengths of radiation suitable for such measurements. In some examples, the camera may be mounted inside the windshield of the vehicle 200. Specifically, the camera may be positioned to capture images from a forward-looking perspective relative to the orientation of the vehicle 200. Other mounting locations and viewing angles for the camera, whether interior or exterior of the vehicle 200, may be used. The camera may also have associated optics operable to provide an adjustable field of view. Furthermore, the camera may be mounted to the vehicle 200 using a movable mount to change the pointing angle of the camera, such as via a pan / tilt mechanism.

[0061] Vehicle 200 may also include one or more acoustic sensors used to sense the vehicle's surrounding environment (e.g., one or more of sensor systems 202, 204, 206, 208, 210, 212, 214, 216, 218 may include one or more acoustic sensors). Acoustic sensors may include microphones (e.g., piezoelectric microphones, condenser microphones, ribbon microphones, and microelectromechanical systems (MEMS) microphones) used to sense acoustic waves (i.e., pressure differentials) in the fluid (e.g., air) of the environment surrounding vehicle 200. Such acoustic sensors may be used to identify sounds in the surrounding environment (e.g., sirens, human speech, animal sounds, and alarms) upon which a control strategy for vehicle 200 may be based. For example, if an acoustic sensor detects a siren (e.g., a mobile siren and / or a fire engine siren), vehicle 200 may slow down and / or navigate to the curb of the road.

[0062] Although not shown in FIGS. 2A-2E, vehicle 200 may include a wireless communication system (e.g., similar to and / or in addition to wireless communication system 146 of FIG. 1). The wireless communication system may include a wireless transmitter and a wireless receiver that may be configured to communicate with devices external or internal to vehicle 200. Specifically, the wireless communication system may include a transceiver configured to communicate with other vehicles and / or computing devices, for example, in a vehicle communication system or roadside gas station. Examples of such vehicle communication systems include DSRC, radio frequency identification (RFID), and other communication standards proposed for intelligent transport systems.

[0063] Vehicle 200 may include one or more other components in addition to or instead of those shown. The additional components may include electrical or mechanical functions.

[0064] A control system of vehicle 200 may be configured to control vehicle 200 according to a control strategy from among a plurality of possible control strategies. The control system may be configured to receive information from sensors (on or off vehicle 200) coupled to vehicle 200, modify the control strategy (and associated driving behavior) based on the information, and control vehicle 200 according to the modified control strategy. The control system may be further configured to monitor the information received from the sensors and continuously evaluate driving conditions, and may be configured to modify the control strategy and driving behavior based on changing driving conditions. For example, the path taken by the vehicle from one destination to another may be modified based on driving conditions. Additionally or alternatively, speed, acceleration, turn angle, following distance (i.e., the distance to the vehicle ahead of the current vehicle), lane selection, etc. may all be modified in response to changing driving conditions.

[0065] As noted above, in some embodiments, vehicle 200 may take the form of a van, although alternative forms are also possible and contemplated herein. Accordingly, FIGS. 2F-2I illustrate an embodiment in which vehicle 250 takes the form of a semi-truck. For example, FIG. 2F illustrates a front view of vehicle 250, and FIG. 2G illustrates an isometric view of vehicle 250. In an embodiment in which vehicle 250 is a semi-truck, vehicle 250 may include tractor portion 260 and trailer portion 270 (illustrated in FIG. 2G). FIGS. 2H and 2I provide side and top views, respectively, of tractor portion 260. Similar to vehicle 200 illustrated above, vehicle 250 illustrated in FIGS. 2F-2I may also include various sensor systems (e.g., similar to sensor systems 202, 206, 208, 210, 212, 214 shown and described with reference to FIGS. 2A-2E). In some embodiments, vehicle 200 of FIGS. 2A-2E may include only a single copy of some sensor systems (e.g., sensor system 204), while vehicle 250 illustrated in FIGS. 2F-2I may include multiple copies of its sensor systems (e.g., sensor systems 204A and 204B, as illustrated).

[0066] While the figures and general description may refer to a given vehicle form (e.g., semi-truck vehicle 250 or van vehicle 200), it is understood that the embodiments described herein may be equally applicable in various vehicle contexts (e.g., with modifications adopted to account for the vehicle form factor). For example, sensors and / or other components described or illustrated as being part of van vehicle 200 may also be used in semi-truck vehicle 250 (e.g., for navigation and / or obstacle detection and avoidance).

[0067] FIG. 2J illustrates various sensor fields of view (e.g., associated with vehicle 250, described above). As described above, vehicle 250 may contain multiple sensors / sensor units. The various sensor locations may correspond, for example, to the sensor locations disclosed in FIGS. 2F-2I. However, in some cases, sensors may have other locations. To simplify the drawing, sensor location reference numbers are omitted from FIG. 2J. For each sensor unit of vehicle 250, FIG. 2J illustrates a representative field of view (e.g., fields of view labeled as 252A, 252B, 252C, 252D, 254A, 254B, 256, 258A, 258B, and 258C). The sensor field of view may include an angular region (e.g., an azimuth region and / or an elevation region) in which the sensor may detect objects.

[0068] FIG. 2K illustrates beam steering for a sensor of a vehicle (e.g., vehicle 250 shown and described with reference to FIGS. 2F-2J) according to an exemplary embodiment. In various embodiments, the sensor unit of vehicle 250 may be radar, LIDAR, sonar, or the like. Additionally, in some embodiments, during sensor operation, the sensor may be scanned within the sensor's field of view. Various different scan angles for the exemplary sensor are shown as regions 272, each indicating an angular region in which the sensor is operating. The sensor may periodically or repeatedly change the region in which it is operating. In some embodiments, multiple sensors may be used by vehicle 250 to measure region 272. Additionally, other regions may be included in other examples. For example, one or more sensors may measure aspects of trailer 270 of vehicle 250 and / or the region ahead of vehicle 250.

[0069] At some angles, the sensor's operating area 275 may include the rear wheels 276A, 276B of the trailer 270. Thus, the sensor may measure the rear wheels 276A and / or 276B during operation. For example, the rear wheels 276A, 276B may reflect LIDAR or radar signals transmitted by the sensor. The sensor may receive signals reflected from the rear wheels 276A, 276B. Thus, the data collected by the sensor may include data from reflections from the wheels.

[0070] In some cases, such as when the sensor is a radar, reflections from the rear wheels 276A, 276B may appear as noise in the received radar signal. As a result, the radar may operate with an enhanced signal-to-noise ratio in cases where the rear wheels 276A, 276B direct the radar signal away from the sensor.

[0071] 3 is a conceptual, illustrative diagram of wireless communication between various computing systems associated with an autonomous or semi-autonomous vehicle, according to an example embodiment. In particular, wireless communication may occur between a remote computing system 302 and the vehicle 200 over a network 304. Wireless communication may also occur between a server computing system 306 and the remote computing system 302, and between the server computing system 306 and the vehicle 200.

[0072] Vehicle 200 can correspond to various types of vehicles capable of transporting passengers or objects between locations and can take the form of any one or more of the vehicles discussed above. In some cases, vehicle 200 can operate in an autonomous or semi-autonomous mode that enables a control system to safely navigate vehicle 200 between destinations using sensor measurements. When operating in an autonomous or semi-autonomous mode, vehicle 200 can navigate with or without a passenger. As a result, vehicle 200 can pick up and drop off passengers between desired destinations.

[0073] Remote computing system 302 may represent any type of device associated with remote assistance technologies, including but not limited to those described herein. In examples, remote computing system 302 may represent any type of device configured to (i) receive information related to vehicle 200, (ii) provide an interface through which a human operator can then perceive the information and enter a response related to the information, and (iii) transmit the response to vehicle 200 or to another device. Remote computing system 302 may take various forms, such as a workstation, a desktop computer, a laptop, a tablet, a mobile phone (e.g., a smartphone), and / or a server. In some examples, remote computing system 302 may include multiple computing devices operating together in a network configuration.

[0074] The remote computing system 302 may include one or more subsystems and components similar to or identical to those of the vehicle 200. At a minimum, the remote computing system 302 may include a processor configured to perform the various operations described herein. In some embodiments, the remote computing system 302 may also include a user interface including input / output devices such as a touchscreen and speakers. Other examples are possible as well.

[0075] Network 304 represents an infrastructure that enables wireless communication between remote computing system 302 and vehicle 200. Network 304 also enables wireless communication between server computing system 306 and remote computing system 302, and between server computing system 306 and vehicle 200.

[0076] The location of remote computing system 302 can vary within the examples. For example, remote computing system 302 can be at a location remote from vehicle 200 with wireless communication over network 304. In another example, remote computing system 302 may correspond to a computing device within vehicle 200 that is separate from vehicle 200 but that allows a human operator to interact with a passenger or driver of vehicle 200. In some examples, remote computing system 302 can be a computing device with a touchscreen that can be operated by a passenger of vehicle 200.

[0077] In some embodiments, the operations described herein performed by remote computing system 302 may additionally or alternatively be performed by vehicle 200 (i.e., by any system or subsystem of vehicle 200). In other words, vehicle 200 may be configured to provide remote assistance mechanisms with which a driver or passengers of the vehicle can interact.

[0078] Server computing system 306 may be configured to wirelessly communicate with remote computing system 302 and vehicle 200 over network 304 (or, in some cases, directly with remote computing system 302 and / or vehicle 200). Server computing system 306 may represent any computing device configured to receive, store, determine, and / or transmit information related to vehicle 200 and its remote assistance. As such, server computing system 306 may be configured to perform any operation or portion of such operation described herein as being performed by remote computing system 302 and / or vehicle 200. Wireless communication related to remote assistance may utilize server computing system 306 in some embodiments, but not in other embodiments.

[0079] The server computing system 306 may include one or more subsystems and components similar to or identical to the subsystems and components of the remote computing system 302 and / or the vehicle 200, such as a processor configured to perform the various operations described herein, and a wireless communication interface for receiving information from and providing information to the remote computing system 302 and the vehicle 200.

[0080] The various systems described above may perform various operations, and these operations and associated features will now be described.

[0081] In keeping with the above discussion, computing systems (e.g., remote computing system 302, server computing system 306, and a computing system local to vehicle 200) may operate to capture images of the autonomous or semi-autonomous vehicle's surrounding environment using cameras. Generally, at least one computing system may analyze the images and, if possible, control the autonomous or semi-autonomous vehicle.

[0082] In some embodiments, to facilitate autonomous or semi-autonomous operation, a vehicle (e.g., vehicle 200) may receive data representing objects in the environment surrounding the vehicle (also referred to herein as "environmental data") in various manners. A sensor system of the vehicle may provide the environmental data representing objects in the surrounding environment. For example, the vehicle may have various sensors including cameras, radar, LIDAR, microphones, radio units, and other sensors. Each of these sensors may communicate environmental data to a processor within the vehicle regarding the information each respective sensor receives.

[0083] In one example, the camera may be configured to capture still images and / or video. In some embodiments, the vehicle may have two or more cameras positioned at different orientations. Also, in some embodiments, the camera may be capable of moving to capture images and / or video in different directions. The camera may be configured to store captured images and video in memory for later processing by the vehicle's processing system. The captured images and / or video may be environmental data. Additionally, the camera may include an image sensor as described herein.

[0084] In another example, a radar may be configured to transmit electromagnetic signals that are reflected by various objects near the vehicle and then capture the electromagnetic signals that reflect from the objects. The captured reflected electromagnetic signals may enable the radar (or a processing system) to make various determinations about the objects that reflected the electromagnetic signals. For example, the distance and location to the various reflecting objects may be determined. In some embodiments, a vehicle may have two or more radars at different orientations. The radar may be configured to store the captured information in a memory for later processing by the vehicle's processing system. The information captured by the radar may be environmental data.

[0085] In another example, a LIDAR may be configured to transmit electromagnetic signals (e.g., infrared light, such as from a gas or diode laser, or other possible light source) that are reflected by target objects near the vehicle. The LIDAR may be capable of acquiring the reflected electromagnetic (e.g., infrared light) signals. The captured reflected electromagnetic signals may enable a ranging system (or processing system) to determine distances to various objects. The LIDAR may also determine the velocity or speed of the target objects, which may be stored as environmental data.

[0086] Additionally, in one example, a microphone may be configured to capture audio of the vehicle's surrounding environment. Sounds captured by the microphone may include sounds of emergency vehicle sirens and other vehicles. For example, the microphone may capture sounds of sirens from an ambulance, a fire engine, and a police vehicle. The processing system may be capable of identifying that the captured audio signal is indicative of an emergency vehicle. In another example, the microphone may capture sounds of an exhaust from another vehicle, such as an exhaust from a motorcycle. The processing system may be capable of identifying that the captured audio signal is indicative of a motorcycle. Data captured by the microphone may form part of the environmental data.

[0087] In yet another example, the radio unit may be configured to transmit an electromagnetic signal, which may take the form of a Bluetooth signal, an 802.11 signal, and / or other wireless technology signal. The first electromagnetic radiation signal may be transmitted via one or more antennas located on the radio unit. Furthermore, the first electromagnetic radiation signal may be transmitted in one of many different wireless signal modes. However, in some embodiments, it may be desirable to transmit the first electromagnetic radiation signal in a signal mode that solicits responses from devices located near the autonomous or semi-autonomous vehicle. The processing system may be able to detect nearby devices based on responses transmitted back to the radio unit and use this communicated information as part of the environmental data.

[0088] In some embodiments, the processing system may be able to combine information from various sensors to further determine the vehicle's surroundings. For example, the processing system may combine data from both radar information and captured imagery to determine whether another vehicle or pedestrian is in front of the autonomous or semi-autonomous vehicle. In other embodiments, other combinations of sensor data may be used by the processing system to make decisions about the surroundings.

[0089] While operating in autonomous mode (or semi-autonomous mode), the vehicle may control its operation with little or no human input. For example, if a human operator inputs an address into the vehicle, the vehicle may be able to drive to the specified destination without further input from the human (e.g., without the human having to steer or touch the brake / accelerator pedals). Additionally, while the vehicle is operating autonomously or semi-autonomously, the sensor system may receive environmental data. The vehicle's processing system may alter the control of the vehicle based on the environmental data received from the various sensors. In some embodiments, the vehicle may alter the vehicle's speed in response to the environmental data from the various sensors. The vehicle may alter its speed to avoid obstacles, obey traffic laws, etc. If the processing system in the vehicle identifies an object near the vehicle, the vehicle may be able to alter its speed or otherwise modify its movement.

[0090] If the vehicle detects an object but is not fully confident in its detection, the vehicle can request a human operator (or a more powerful computer) to perform one or more remote assistance tasks, such as (i) verifying whether the object is actually present in the surrounding environment (e.g., is there actually a stop sign or is there actually no stop sign), (ii) verifying whether the vehicle's identification of the object is correct, (iii) correcting the identification if it is incorrect, and / or (iv) providing supplemental instructions (or modifying current instructions) to the autonomous or semi-autonomous vehicle. Remote assistance tasks also include the human operator providing instructions to control the vehicle's operation (e.g., if the human operator determines that the object is a stop sign, commanding the vehicle to stop at the stop sign), although in some scenarios the vehicle itself may control its own operation based on the human operator's feedback related to the object's identification.

[0091] To facilitate this, the vehicle may analyze environmental data representative of objects in the surrounding environment to determine at least one object having a detection confidence below a threshold. A processor in the vehicle may be configured to detect various objects in the surrounding environment based on the environmental data from various sensors. For example, in one embodiment, the processor may be configured to detect objects that may be important for the vehicle to recognize. Such objects may include pedestrians, bicyclists, street signs, other vehicles, indicator signals of other vehicles, and various other objects detected in the captured environmental data.

[0092] The detection confidence may indicate the likelihood that a determined object is correctly identified or present in the surrounding environment. For example, the processor may perform object detection of objects in image data in the received environmental data and determine that an object has a detection confidence below a threshold based on the inability to identify at least one object with a detection confidence above a threshold. If the object detection or object recognition results for an object are inconclusive, the detection confidence may be low or below a set threshold.

[0093] A vehicle may detect objects in the surrounding environment in a variety of ways, depending on the source of the environmental data. In some embodiments, the environmental data may be image or video data coming from a camera. In other embodiments, the environmental data may come from LIDAR. The vehicle may analyze the captured image or video data to identify objects in the image or video data. Methods and apparatus may be configured to monitor the image and / or video data for the presence of objects in the surrounding environment. In other embodiments, the environmental data may be radar, audio, or other data. The vehicle may be configured to identify objects in the surrounding environment based on radar, audio, or other data.

[0094] In some embodiments, the technique used by the vehicle to detect objects may be based on a set of known data. For example, data related to environmental objects may be stored in a memory located in the vehicle. The vehicle may compare received data with the stored data to determine the object. In other embodiments, the vehicle may be configured to determine the object based on the context of the data. For example, construction-related street signs may generally have an orange color. Thus, the vehicle may be configured to detect an orange object located near the side of the road as a construction-related street sign. Additionally, as the vehicle's processing system detects objects in the captured data, it may also calculate a confidence score for each object.

[0095] Additionally, the vehicle may also have a confidence threshold. The confidence threshold may vary depending on the type of object detected. For example, the confidence threshold may be lower for an object that may require a quick response action from the vehicle, such as the brake lights of another vehicle. However, in other embodiments, the confidence threshold may be the same for all detected objects. If the confidence associated with a detected object is higher than the confidence threshold, the vehicle may assume that the object was correctly recognized and responsively adjust the vehicle's controls based on that assumption.

[0096] If the confidence associated with the detected object is lower than a confidence threshold, the action taken by the vehicle may vary. In some embodiments, the vehicle may react as if the detected object is present despite the low confidence level. In other embodiments, the vehicle may react as if the detected object is not present.

[0097] Upon detecting an object in the surrounding environment, the vehicle may also calculate a confidence level associated with the particular detected object. The confidence level may be calculated in various ways depending on the embodiment. In one example, upon detecting an object in the surrounding environment, the vehicle may compare environmental data to predetermined data associated with known objects. The closer the match between the environmental data and the predetermined data, the higher the confidence level. In other embodiments, the vehicle may use a mathematical analysis of the environmental data to determine the confidence level associated with the object.

[0098] In response to determining that the object has a detection confidence below a threshold, the vehicle may transmit a request for remote assistance along with an identification of the object to a remote computing system. As discussed above, the remote computing system may take a variety of forms. For example, the remote computing system may be an in-vehicle computing device that is separate from the vehicle, but which may include a touchscreen interface for displaying remote assistance information, etc., through which a human operator may interact with a passenger or driver of the vehicle. Additionally or alternatively, as another example, the remote computing system may be a remote computer terminal or other device located at a location not near the vehicle.

[0099] The request for remote assistance may include environmental data, including the object, such as image data, audio data, etc. The vehicle may transmit the environmental data over a network (e.g., network 304) to a remote computing system, in some embodiments, via a server (e.g., server computing system 306). A human operator of the remote computing system may then use the environmental data as a basis for responding to the request.

[0100] In some embodiments, if an object is detected as having a confidence below a confidence threshold, the object may be given a preliminary identification, and the vehicle may be configured to adjust the vehicle's operation in response to the preliminary identification. Such adjustments in operation may take the form of stopping the vehicle, switching the vehicle to a human-controlled mode, changing the vehicle's performance (e.g., speed and / or direction), among other possible adjustments.

[0101] In other embodiments, if the vehicle detects an object with a confidence level that meets or exceeds a threshold, the vehicle may still act on the detected object (e.g., stop if the object is identified with high confidence as a stop sign), but may be configured to request remote assistance at the same time (or after) the vehicle acts on the detected object.

[0102] 4A is a block diagram of a system according to an example embodiment. In particular, FIG. 4A shows a system 400 including a system controller 402, a LIDAR device 410, multiple sensors 412, and multiple controllable components 414. The system controller 402 includes a processor 404, a memory 406, and instructions 408 stored on the memory 406 and executable by the processor 404 to implement functions.

[0103] The processor 404 may include one or more processors, such as one or more general-purpose microprocessors (e.g., having a single core or multiple cores) and / or one or more special-purpose microprocessors. The one or more processors may include, for example, one or more central processing units (CPUs), one or more microcontrollers, one or more graphics processing units (GPUs), one or more tensor processing units (TPUs), one or more ASICs, and / or one or more field-programmable gate arrays (FPGAs). Other types of processors, computers, or devices configured to execute software instructions are also contemplated herein.

[0104] The memory 406 may include a computer-readable medium such as a non-transitory computer-readable medium, which may include, without limitation, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile random access memory (e.g., flash memory), solid-state drive (SSD), hard disk drive (HDD), compact disc (CD), digital video disc (DVD), digital tape, read / write (R / W) CD, R / W DVD, etc.

[0105] The LIDAR device 410, described further below, includes a plurality of light-emitting elements configured to emit light (e.g., in light pulses) and one or more photodetectors configured to detect the light (e.g., reflected portions of the light pulses). The LIDAR device 410 may generate three-dimensional (3D) point cloud data from the outputs of the photodetectors and provide the 3D point cloud data to the system controller 402. The system controller 402 may then perform operations on the 3D point cloud data to determine characteristics of the surrounding environment (e.g., relative positions of objects within the surrounding environment, edge detection, object detection, and / or proximity sensing).

[0106] Similarly, system controller 402 may use output from multiple sensors 412 to determine characteristics of system 400 and / or the surrounding environment. For example, sensors 412 may include one or more of a GPS, an IMU, an image capture device (e.g., a camera), a light sensor, a heat sensor, and other sensors that indicate parameters related to system 400 and / or the surrounding environment. LIDAR device 410 is depicted as being separate from sensors 412, for example, and in some examples may be considered part of or as sensors 412.

[0107] Based on characteristics of the surrounding environment determined by system controller 402 based on output from system 400 and / or LIDAR device 410 and sensors 412, system controller 402 may control controllable components 414 to perform one or more actions. For example, system 400 may correspond to a vehicle, in which case controllable components 414 may include the vehicle's braking system, turning system, and / or acceleration system, and system controller 402 may alter aspects of these controllable components based on characteristics determined from LIDAR device 410 and / or sensors 412 (e.g., when system controller 402 controls the vehicle in autonomous or semi-autonomous mode). In an example, LIDAR device 410 and sensors 412 are also controllable by system controller 402.

[0108] 4B is a block diagram of a LIDAR device according to an example embodiment. In particular, FIG. 4B shows a LIDAR device 410 having a controller 416 configured to control a plurality of light-emitting elements 424 and one or more photodetectors, such as a plurality of photodetectors 426. The LIDAR device 410 may further include a firing circuit 428 configured to select and provide power to each light-emitting element of the plurality of light-emitting elements 424 and may include a selector circuit 430 configured to select each photodetector of the plurality of photodetectors 426. The controller 416 includes a processor 418, a memory 420, and instructions 422 stored on the memory 420.

[0109] Similar to processor 404, processor 418 may include one or more processors, such as one or more general-purpose microprocessors and / or one or more special-purpose microprocessors. The one or more processors may include, for example, one or more CPUs, one or more microcontrollers, one or more GPUs, one or more TPUs, one or more ASICs, and / or one or more FPGAs. Other types of processors, computers, or devices configured to execute software instructions are also contemplated herein.

[0110] Similar to memory 406, memory 420 may include computer-readable media such as, but not limited to, ROM, PROM, EPROM, EEPROM, non-volatile random access memory (e.g., flash memory), SSD, HDD, CD, DVD, digital tape, R / W CD, R / W DVD, and other non-transitory computer-readable media.

[0111] Instructions 422 are stored on memory 420 and executable by processor 418 to perform functions related to controlling firing circuitry 428 and selector circuitry 430 to generate 3D point cloud data and to process the 3D point cloud data (or perhaps to facilitate processing of the 3D point cloud data by another computing device, such as system controller 402).

[0112] The controller 416 may determine 3D point cloud data by using the light emitting elements 424 to emit pulses of light. An emission time is established for each light emitting element, and the relative location of the emission time is also tracked. Aspects of the surrounding environment of the LIDAR device 410, such as various objects, reflect the pulses of light. For example, if the LIDAR device 410 is in an environment that includes a road, such objects may include vehicles, signs, pedestrians, road surfaces, construction cones, etc. Some objects may be more reflective than others, such that the intensity of the reflected light may indicate the type of object reflecting the light pulse. Furthermore, object surfaces may be at different positions relative to the LIDAR device 410 and therefore may take more or less time to reflect a portion of the light pulse back to the LIDAR device 410. Thus, the controller 416 may track the detection time at which the reflected light pulse is detected by the photodetector and the relative position of the photodetector at the detection time. By measuring the time difference between the emission time and the detection time, the controller 416 can determine how far the light pulse travels before being received and, therefore, the relative distance of the corresponding object. By tracking the relative positions at the emission and detection times, the controller 416 can determine the orientation of the light pulse and reflected light pulse relative to the LIDAR device 410 and, therefore, the relative orientation of the object. By tracking the intensity of the received light pulse, the controller 416 can determine how reflective the object is. 3D point cloud data determined based on this information can therefore indicate the relative positions of the detected reflected light pulses (e.g., in a coordinate system such as a Cartesian coordinate system) and the intensity of each reflected light pulse.

[0113] The firing circuit 428 is used to select the light emitting element for emitting a light pulse. Similarly, the selector circuit 430 is used to sample the output from the photodetector.

[0114] 5A is a diagram of a camera 500 capturing an image of an environment 550, according to an exemplary embodiment. The camera 500 may be the camera 130 of the sensor system 104 of the vehicle 100, as shown and described above with reference to FIG. 1. Additionally, the camera 500 may include one or more lens elements (not visible) housed within a lens holder 520 (e.g., a lens barrel) of the camera 500. For example, the camera 500 may include one or more foveated lenses 510 (e.g., as described further below). The camera 500 may also include an image sensor 504.

[0115] The image sensor 504 may include a CCD or CMOS sensor. For example, the image sensor 504 may include an array of photosensitive pixels configured to absorb light and provide an electrical output based on the absorbed light. The electrical output of each of the photosensitive pixels may then be stored (e.g., in a memory such as a non-volatile memory) as a captured image (e.g., in a given file format such as .JPEG, .PNG, .BMP, .TIFF, .GIF, .PDF, .RAW, and .EPS). In some embodiments, the photosensitive pixels of the image sensor 504 may have various surface sizes. For example, each of the photosensitive pixels may have an area of ​​6.25 μm 2 Less than (e.g., 4.41 μm 2) area. Further, each of the photosensitive pixels of image sensor 504 may have a uniform (i.e., the same) area size. In some embodiments, image sensor 504 may have a relatively large image sensor resolution (e.g., 13MP to 20MP, such as 17MP). Further, the aspect ratio of image sensor 504 may be non-square. For example, image sensor 504 may have more photosensitive pixels in one dimension (e.g., the horizontal dimension / z direction as illustrated in FIG. 5A ) than in another dimension (e.g., the vertical dimension / y direction as illustrated in FIG. 5A ). This may allow the aspect ratio of the captured image (and correspondingly, the captured field of view of environment 550) to also be non-square. For example, image sensor 504 may have an aspect ratio of at least 1:4, 1:3, 1:2, 1:1.75, 1:1.5, 1:1.25, 1:1.1, 1.1:1, 1.25:1, 1.5:1, 1.75:1, 2:1, 3:1, or 4:1 width:height ratio. In conjunction with the designed distortion aberration profile (described below) of the foveated lens of camera 500, an aspect ratio other than 1:1 may enable the field of view of a captured image to encompass a wider angular range in one direction (e.g., azimuth) than in another direction (e.g., elevation). For example, an image captured by image sensor 504 may capture a field of view spanning a range of 90° to 150° (e.g., at least 120°) in azimuth and a range of 30° to 60° (e.g., at least 45°) in elevation.

[0116] Image sensor 504 may receive light from environment 550 through one or more lens elements housed in lens holder 520 and / or through mirror 502. In some embodiments, camera 500 may also include additional components (e.g., a shutter button, a viewfinder, a flash, a battery, electronic storage for recording captured images, a display screen, and selection buttons). Additionally, in some embodiments, mirror 502 may be movable (e.g., mirror 502 may rotate relative to foveated lens 510 so that light from environment 550 can be selectively directed toward the field of view of camera 500 or image sensor 504 of camera 500).

[0117] 5A is provided for illustrative purposes only and is not intended to imply that the environment 550 includes only trees or any trees at all. Additionally, the environment 550 captured by the camera 500 may include multiple objects. In some embodiments, for example, the environment 550 captured by the camera 500 may include a set of objects surrounding a vehicle (e.g., a vehicle to which the camera 500 is attached) operating in an autonomous or semi-autonomous mode. For example, the environment 550 may include traffic signals, road lighting, road surfaces, roadside signs, pedestrians, animals, plants, other vehicles, weather features (e.g., snow, slanting lines, seaweed, and rain), dust, bicycles, etc.

[0118] In some embodiments, one or more of the components of camera 500 may be manually controlled by a user of camera 500. For example, lens holder 520 may be configured to rotate about its axis to modify the relative position of one or more lens elements within lens holder 520, thereby adjusting the field of view and / or zoom of camera 500. Alternatively, one or more of the components of camera 500 may be electronically controlled (e.g., a camera controller may adjust one or more of the lens elements within lens holder 520 to modify the zoom of camera 500, such as during an autofocus procedure, adjust the sensitivity level of image sensor 504, or adjust other exposure settings of camera 500).

[0119] While a digital single-lens reflex (DSLR) camera is illustrated in FIG. 5A , it is understood that FIG. 5A is provided by way of example only and that other embodiments are contemplated herein. In alternative embodiments, other form factors may be used. For example, in some embodiments, camera 500 may include only an image sensor behind one or more lenses (e.g., a telecentric lens). Other arrangements are possible. In some embodiments, for example, the camera may include one or more optical filters (e.g., polarizing filters, color filters, and neutral density filters) and / or one or more motorized stages and / or motors configured to adjust the position of one or more components of the camera. Furthermore, in some embodiments, camera 500 may be used for object detection and avoidance in a vehicle operating in an autonomous or semi-autonomous mode (e.g., such as camera 130 shown and described with reference to FIG. 1 ). It is understood that the techniques described herein may be applicable to any form factor of camera and / or image sensor. For example, the techniques described herein are applicable to vehicle cameras (e.g., cameras used for object detection and avoidance, as well as backup cameras), webcams, cell phone cameras, DSLRs (as shown in FIG. 5A), closed circuit television cameras, high-speed cameras, etc. Furthermore, the techniques described herein may be equally applied to cameras that record images digitally as well as cameras that record images chemically (e.g., on film).

[0120] FIG. 5B is a simplified diagram of a camera 500 capturing an image of an environment 550, according to an example embodiment. The camera 500 shown in FIG. 5B may, for example, be a simplified rendering of the same camera 500 shown in FIG. 5A. As shown, the camera 500 may include an image sensor 504, a foveated lens 510, and a lens holder 520. The lens holder 520 is shown in a cutaway view (e.g., so that the internal components of the lens holder 520 are visible). As shown, an aperture stop 522 (e.g., a plate having an adjustable iris therein), a first lens element 524 (e.g., a first aspherical lens), and a second lens element 526 (e.g., a second aspherical lens) may be located inside the lens holder 520. Additionally, in some embodiments, the lens holder 520 may be fabricated to provide thermal stability (e.g., to counter thermal expansion / contraction that affects the behavior of the foveated lens 510). For example, the lens holder 520 may be made from aluminum (eg, an aluminum alloy such as 6061-T6).

[0121] In some embodiments, the combination of lens holder 520 and any components within lens holder 520 (e.g., aperture stop 522, first lens element 524, and second lens element 526) may be collectively referred to as foveated lens 510. However, in other embodiments, "foveated lens" may refer only to one or more lens elements that make up a lens assembly (e.g., may not include the lens holder and / or other optical elements such as apertures, mirrors, and filters). In still other embodiments, depending on the context, "foveated lens" may refer to a single lens element (e.g., a single aspheric lens element) used to generate a specified distortion aberration profile.

[0122] Furthermore, first lens element 524, second lens element 526, and aperture stop 522 may, in some embodiments, be the primary optical elements included in foveated lens 510. However, it will be understood that the positions, shapes, and relative sizes of first lens element 524, second lens element 526, and aperture stop 522 are provided for illustrative purposes only and may differ in various embodiments. For example, the relative scale, relative position, and / or relative shape of first lens element 524, second lens element 526, and / or aperture stop 522 may differ from that illustrated in FIG. 5B in various embodiments (e.g., as shown and described with reference to FIG. 5C ). Additionally or alternatively, it will be appreciated that foveated lens 510 may include additional elements (e.g., additional lens elements as shown and described below with reference to FIG. 5C ).

[0123] FIG. 5C is a cutaway side view of a foveated lens (e.g., foveated lens 510 shown and described with reference to FIGS. 5A and 5B) and an image sensor (e.g., image sensor 504 shown and described with reference to FIGS. 5A and 5B) according to an exemplary embodiment. Foveated lens 510 and image sensor 504 may be components of a camera (e.g., camera 500 shown and described with reference to FIGS. 5A and 5B). For illustrative purposes (e.g., to avoid cluttering the drawing), lens holder 520 is not shown in FIG. 5C. Additionally, additional lens elements within the lens assembly of foveated lens 510, not shown in FIG. 5B, are shown in FIG. 5C.

[0124] As shown, the foveated lens 510 may include an aperture stop 522, a first lens element 524, a second lens element 526, and a third lens element 528. As shown, the foveated lens 510 may include one or more additional unlabeled lens elements (e.g., a spherical lens, an aspherical lens, a convex lens, a concave lens, a lens with positive refractive power, and a lens with negative refractive power). As shown, in some embodiments, the first lens element 524 and the second lens element 526 may be positioned on either side of the aperture stop 522 within the foveated lens 510. Also as shown, the image sensor 504 may be positioned closer to the second lens element 526 than to the first lens element 524. The lens elements of foveated lens 510 (e.g., first lens element 524, second lens element 526, third lens element 528, and / or any unlabeled elements) may be made from molded optical glass and / or molded optical plastic. Furthermore, in some embodiments, foveated lens 510 may include one or more optical elements (e.g., filters, polarizers, mirrors, and waveguides) in addition to or instead of those illustrated in FIG. 5C. The foveated lens 510 illustrated in FIG. 5C may be, for example, a rotationally symmetric foveated lens (e.g., the distortion aberration profile of foveated lens 510 is rotationally isotropic about the major axis of the foveated lens but not radially isotropic).

[0125] In some embodiments, light from an external environment (e.g., environment 550 shown and described with reference to FIGS. 5A and 5B) may enter foveated lens 510 through third lens element 528 (i.e., third lens element 528 may be positioned between the remaining elements of foveated lens 510 and environment 550). Third lens element 528 may be a spherical lens and / or, in various embodiments, may have positive refractive power.

[0126] Upon transmission through third lens element 528, light from environment 550 may be transmitted (e.g., through one or more intermediate lens elements or other optical elements) to first lens element 524. First lens element 524 may include an aspheric lens (e.g., an aspheric lens having a distortion aberration profile designed to correspond to the desired field of view and angular optical resolution profile of environment 550 in conjunction with the characteristics of the remaining lens elements and image sensor 504). Furthermore, first lens element 524 may have negative refractive power. Furthermore, first lens element 524 may have a diameter of less than 30 mm, less than 25 mm, or less than 20 mm.

[0127] Once transmitted through first lens element 524, light from environment 550 may be transmitted to aperture stop 522 (e.g., having an aperture, such as an adjustable aperture, defined therein). In some embodiments, light from environment 550 may be transmitted from first lens element 524 to aperture stop 522 through one or more intermediate lens elements (e.g., spherical lenses, aspherical lenses, convex lenses, concave lenses, lenses with positive refractive power, and lenses with negative refractive power) and / or other optical elements.

[0128] Upon transmission through the aperture defined in aperture stop 522, light from environment 550 may be transmitted to second lens element 526 (e.g., through one or more intermediate lens elements or other optical elements). Second lens element 526 may include an aspheric lens (e.g., an aspheric lens having a distortion aberration profile designed to correspond to the desired field of view and angular optical resolution profile of environment 550 in conjunction with the characteristics of the remaining lens elements and image sensor 504). Further, second lens element 526 may have positive refractive power. Further, second lens element 526 may have a diameter of less than 15 mm, less than 12.5 mm, or less than 10 mm.

[0129] Upon transmission through the second lens element 526, light from the environment 550 may be transmitted from the foveated lens 510 to the image sensor 504. In some embodiments, light from the environment 550 may be transmitted from the second lens element 526 to the image sensor 504 through one or more other optical elements. For example, as shown in FIG. 5C , light may be transmitted to the image sensor 504 through an infrared cutoff filter 532 and a cover glass 534 that covers the image sensor 504.

[0130] In some embodiments, the height of the foveated lens 510 may be 15 mm to 45 mm (e.g., 30 mm) at its highest point (e.g., at the entrance to the foveated lens 510 at the third lens element 528) (e.g., in the y direction shown in FIG. 5C ). For example, the diameter of the third lens element 528 may be 30 mm. Additionally or alternatively, the combination of the foveated lens 510 and the image sensor 504 may range from 45 mm to 75 mm (e.g., 60 mm) in the x direction shown in FIG. 5C . As a result of the illustrated arrangement, the foveated lens 510 may exhibit a number of optical characteristics. For example, the foveated lens 510 may have a focal length of 5 mm to 20 mm (e.g., 10 mm). Additionally or alternatively (e.g., based on the size of the aperture defined in the aperture stop 522), the foveated lens 510 may have an f-number of f / 1.4 to f / 2.8 (e.g., f / 2). It will be understood that the arrangement of the foveated lens 510 shown and described with reference to FIG. 5C is provided by way of example only, and that other embodiments are possible and contemplated herein.

[0131] 5C can provide a desired distortion profile (e.g., a non-uniform distortion profile). For example, the distortion profile can range (e.g., non-linear) from 0% distortion in a central region of the field of view to −55% to −75% (e.g., −65%) in a peripheral region of the field of view (e.g., corresponding to 60° in azimuth from the center of the field of view). The distortion profile, together with the position of the image sensor 504, can result in non-uniform angular optical resolution across the image sensor 504 (e.g., such that images captured by the image sensor 504 exhibit non-uniform image distortion across the field of view).

[0132] Furthermore, based on the arrangement of the foveated lens 510 and the image sensor 504 (e.g., the aspect ratio of the image sensor 504), the image sensor 504 may capture a field of view that is wider (e.g., in azimuth) than in height (e.g., in elevation). For example, the captured field of view can be between 90° and 150° wide (e.g., 120° wide) and between 30° and 60° high (e.g., 45° high).

[0133] Of course, the arrangement illustrated in FIG. 5C is one of many possible embodiments. For example, different numbers of lens elements, lens element shapes, or relative positions of lens elements are possible. In some embodiments, for example, the positions of the third lens element 528 and the first lens element 524 may be swapped (i.e., light from the environment 550 may enter the foveated lens 510 through an aspheric lens rather than a spherical lens). In some embodiments, the aspheric lenses in the foveated lens 510 (e.g., the first lens element 524 and the second lens element 526) may have refractive powers of different signs (e.g., one having a positive refractive power and the other having a negative refractive power) or the same signs (e.g., both having a negative refractive power or both having a positive refractive power).

[0134] FIG. 5D is a conceptual diagram of a camera (e.g., the camera 500 shown and described with reference to FIGS. 5A-5C) capturing an image of an environment (e.g., the environment 550 shown and described with reference to FIGS. 5A and 5B). For illustrative purposes (e.g., to avoid cluttering the drawing), the foveated lens 510 of the camera 500 is not shown. However, it is understood that the angular optical resolution arrangement illustrated in FIG. 5D may reflect the influence of the foveated lens 510, the size, shape, and image sensor resolution of the image sensor 504, and the position of the image sensor 504 relative to the foveated lens 510. As shown in FIG. 5D, the total field of view captured by the image sensor 504 based on the distortion aberration profile of the foveated lens 510 may span 120° (e.g., in azimuth angles measured with respect to the illustrated y-axis). It is understood that in other embodiments, other azimuth angle ranges are possible and are contemplated herein.

[0135] As shown in FIG. 5D (and as described above), the image sensor 504 may include an array of photosensitive pixels 560. These photosensitive pixels 560 may be, for example, individual detection elements of a CMOS sensor. As a result of the non-uniform distortion aberration profile of the foveated lens 510, the angular optical resolution captured by the image sensor 504 is also non-uniform across the image sensor 504. For example, near the periphery of the image sensor 504 (e.g., the edges in the z-direction as illustrated in FIG. 5D ), and thus near the edges of the field of view captured by the image sensor 504, the angular optical resolution may be different than near the center of the image sensor 504. This is illustrated by the diagram in FIG. 5D . The cross-hatched wedge corresponding to each of the photosensitive pixels 560 indicates the range of angles over which the corresponding photosensitive pixel 560 detects light. This angular range is inversely proportional to the resolution of that region of the image sensor 504. In other words, the narrower the cross-hatched wedge, the better the angular optical resolution (e.g., corresponding to a lower value measured in radians / pixel) and the greater the resolution (e.g., the easier it is to resolve distinct objects in the environment 550 in the corresponding captured image).

[0136] 5D , the image sensor 504 has a first angular optical resolution 562 in a central region of the image sensor 504 (e.g., corresponding to a central region of the captured field of view), a second angular optical resolution 564 near the periphery of the image sensor 504 (e.g., corresponding to a peripheral region of the captured field of view), and an intermediate angular optical resolution 566 in a region of the image sensor 504 between the central and peripheral regions (e.g., an intermediate region of the image sensor 504 corresponding to an intermediate region of the captured field of view). As shown, the first angular optical resolution 562 may be improved relative to the second angular optical resolution 564. In other words, the cross-hatched wedge corresponding to the first angular optical resolution 562 may be narrower than the cross-hatched wedge corresponding to the second angular optical resolution 564. Similarly, the radians / pixel value at the photosensitive pixels 560 corresponding to the first angular optical resolution 562 may be smaller than the radians / pixel value at the photosensitive pixels 560 corresponding to the second angular optical resolution 564. Also as shown, intermediate angular optical resolution 566 may be between first angular optical resolution 562 and second angular optical resolution 564 .

[0137] FIG. 5E is a simplified diagram of a camera 590 capturing an image of an environment (e.g., the environment 550 shown and described with reference to FIGS. 5A and 5B ), according to an example embodiment. Similar to the camera 500 shown and described with reference to FIGS. 5A through 5D , the camera 590 of FIG. 5E includes a foveated lens 510 and an associated image sensor 504. Additionally, the foveated lens 510 may include a lens holder 520, an aperture stop 522, a first lens element 524, and a second lens element 526. One difference between the camera 500 shown and described with reference to FIGS. 5A through 5D and the camera 590 illustrated in FIG. 5E is that the image sensor 504 (e.g., the center of the image sensor 504) in the camera 590 of FIG. 5E is vertically offset (e.g., offset along the illustrated y-direction) relative to the foveated lens 510. In particular, the image sensor 504 may be positioned vertically off-center relative to a major axis (e.g., a central optical axis) of the foveated lens 510. By vertically offsetting the image sensor 504 relative to the foveated lens 510, the elevation range of the field of view (e.g., the angular range about the illustrated z-axis) may also be offset (e.g., relative to the horizon). For example, the elevation range of the field of view may be asymmetric relative to the horizon (e.g., ranging from 15° below the horizon to 30° above the horizon). Such asymmetry may enable, for example, the simultaneous capture of images of both traffic signals and road surfaces (e.g., when the camera 590 is mounted on a vehicle operating in an autonomous or semi-autonomous mode).

[0138] While the image sensor 504 is vertically offset below the foveated lens 510 (e.g., at a lower y-value than the foveated lens 510), it will be understood that the image sensor 504 may additionally or alternatively be offset in other ways. For example, the image sensor 504 may be vertically offset above the foveated lens 510 (e.g., at a higher y-value than the foveated lens 510), horizontally offset to the left of the foveated lens 510 (e.g., at a lower z-value than the foveated lens 510), and / or horizontally offset to the right of the foveated lens 510 (e.g., at a greater z-value than the foveated lens 510).

[0139] 6A and 6B are diagrams of the angular optical resolution of a camera (e.g., the camera 500 shown and described with reference to FIGS. 5A through 5D). FIG. 6A shows one possible angular optical resolution profile (e.g., based on an arrangement of the foveated lens 510 and image sensor 504), while FIG. 6B shows another possible angular optical resolution profile (e.g., based on a different type of foveated lens 510 or image sensor 504 than that shown in FIG. 6A, and / or a different arrangement of the foveated lens 510 and image sensor 504). As shown in FIGS. 6A and 6B, the angular optical resolution (e.g., measured in μrad / pixel) is plotted against the field of view angle relative to the major axis of the foveated lens 510 (e.g., measured in degrees). In some embodiments, the first angular optical resolution (e.g., angular optical resolution near a field of view of 0° relative to the major axis) may be between 100 μrad / pixel and 250 μrad / pixel, and the second angular optical resolution (e.g., angular optical resolution near a field of view of 60° relative to the major axis) may be between 500 μrad / pixel and 1000 μrad / pixel. For example, as shown, the angular optical resolution may increase non-linearly from approximately 200 μrad / pixel at a field of view of 0° to approximately 650 μrad / pixel at a field of view of 60° (e.g., via one or more intermediate angular optical resolutions). In embodiments in which the foveated lens 510 is rotationally symmetric, the plots illustrated in FIGS. 6A and 6B may apply equally to all angular directions. In such embodiments, based on the aspect ratio of the image sensor 504, the curves in FIGS. 6A and 6B may not be fully plotted in all directions (e.g., because one or more directions may not extend fully to 60° relative to the major axis). For example, the elevation range of the captured field of view may only be 45° (meaning that the curves illustrated in FIGS. 6A and 6B are only shown for elevation angles from 0° to 22.5° because the field of view is twice the maximum angle relative to the major axis). Similarly, if the azimuthal range of the captured field of view is 120° (e.g., because the width:height aspect ratio of the image sensor is greater than 1:1), the curves illustrated in FIGS. 6A and 6B are shown for azimuthal angles from 0° to 60°.In some embodiments (e.g., embodiments having an anisotropic distortion aberration profile), the plots illustrated in Figures 6A and 6B may represent examples of many different plots that may be generated for different angular orientations (e.g., a separate plot may be generated for each of φ=0°, φ=45°, φ=90°, φ=135°, φ=180°, φ=225°, φ=270°, and φ=315°).

[0140] As shown in FIGS. 6A and 6B, the angular optical resolution of the foveated lens 510 may be non-uniform with respect to the field of view. This may correspond to a captured image having different resolution in different regions of the image. For example, because the angular optical resolution is greater near the center of the field of view (e.g., near a 0° field of view), the resolution may be greater near the central region of the captured image than around the periphery of the captured image. As a result, various objects in the captured image may be distorted (e.g., stretched) differently in different regions of the captured image. For example, objects near the edge of the field of view of the captured image may be stretched or elongated (e.g., as a result of the designed distortion aberration profile of the foveated lens 510) than objects near the center of the field of view of the captured image. In some embodiments, the distortion aberration profile of the foveated lens 510 may transition from a first distortion degree (e.g., in a central region of the foveated lens 510), through one or more intermediate distortion degrees (e.g., in a peripheral region of the foveated lens 510), to a second distortion degree (e.g., in a peripheral region of the foveated lens 510). For example, the first distortion degree may be less than the second distortion degree, and the intermediate distortion degree may be between the first and second distortion degrees. For example, the absolute value of the first distortion degree may be less than 1%, less than 5%, or less than 10%, and the absolute value of the second distortion degree may be at least 55%, at least 60%, at least 65%, or at least 70%.

[0141] The distortion aberration profile of the foveated lens 510 may be designed using design constraints. In some embodiments, the design constraints may include both horizontal (i.e., azimuth) and vertical (i.e., elevation) field-of-view design constraints. Such design constraints may include resolution constraints for different regions of the field of view. For example, a central region of the field of view may have an increased resolution constraint compared to a peripheral region of the field of view. The resolution constraints may be defined, for example, in terms of a minimum object height (e.g., in units of image pixels) in a captured image for an environmental object of a given size when located at a minimum threshold distance from the camera 500 (e.g., a 1.8 meter tall person located in the central region of the field of view and 100 meters away from the camera 500 must extend at least 10 pixels vertically).

[0142] Additionally or alternatively, in embodiments in which the foveated lens 510 is rotationally symmetric, the designed distortion aberration profile of the foveated lens 510 can be designed to simultaneously satisfy both horizontal and vertical field-of-view design constraints. For example, a first minimum resolution may be required at 0° relative to the azimuth principal axis, a second minimum resolution may be required at 15° relative to the elevation principal axis, and a third minimum resolution may be required at 45° relative to the azimuth principal axis. The distortion aberration profile of the foveated lens 510 can be designed to simultaneously satisfy each of these design constraints.

[0143] Additionally, the distortion aberration profile of the foveated lens 510 can be designed to meet minimum angles of view (e.g., both elevation and azimuth). For example, the distortion aberration profile of the foveated lens 510 can be designed to result in a captured image having an azimuth field of view of at least 90°, at least 100°, at least 110°, at least 120°, at least 130°, at least 140°, or at least 150°, and an elevation field of view of at least 30°, at least 35°, at least 40°, at least 45°, at least 50°, at least 55°, or 60°. The distortion aberration profile of the foveated lens 510 can be designed to accommodate such fields of view based, in part, on the location and size (e.g., aspect ratio, length, and / or width) of the image sensor associated with the foveated lens 510 (e.g., the image sensor 504 shown and described with reference to FIGS. 5A through 5E). It is understood that other constraints on resolution design are possible and are considered herein.

[0144] FIG. 7 is a diagram of a field of view of a camera 500 (e.g., FIGS. 5A-5E) including a field-of-view forming lens (e.g., the foveated lens 510 shown and described with reference to FIGS. 5A-5E). As shown, the field of view of the camera 500 may include a roadway 702, an exit lane 704, a roadside marking 706, and a traffic signal 708. Additionally, the field of view of the camera 500 may include a central region 710 (the region inside the inner circle), a peripheral region 720 (the region outside the outer circle), and an intermediate region 730 (the region between the central region 710 and the peripheral region 720). The field of view shown in FIG. 7 may correspond to a field of view of an environment surrounding a vehicle to which the camera 500 is mounted. For example, the central region of the field of view may correspond to a forward or reverse direction of the vehicle to which the camera 500 is mounted. Fields of view of other environments (e.g., environments not associated with a vehicle) are also possible and contemplated herein.

[0145] As shown, portions of roadway 702 may be located in each of central region 710, peripheral region 720, and intermediate region 730; portions of exit lane 704 may be located in peripheral region 720 and intermediate region 730; roadside markings 706 may be located in intermediate region 730; and traffic signal 708 may be located in central region 710. Other objects may additionally or alternatively be included in the field of view. For example, road surfaces (e.g., road lighting), lane markers, and / or objects adjacent to other vehicles may be present in the field of view. Furthermore, in other embodiments, objects included in the field of view of FIG. 7 may be located in other regions than those shown. For example, roadside markings 706 may be located in central region 710 or peripheral region 720.

[0146] The expected locations of various objects within the field of view illustrated in FIG. 7 and their relative importance (e.g., with respect to detecting and / or identifying those objects based on corresponding captured images) may be used in designing the distortion aberration profile of the foveated lens 510. For example, other vehicles may appear within a central region 710 of the field of view. Detecting and identifying other vehicles may be of high importance, resulting in increased angular optical resolution in the central region 710 and, correspondingly, a design with a lower amount of distortion aberration in the distortion aberration profile of the foveated lens 510 at small angular values. Similarly, objects located adjacent to the roadway (e.g., trees or buses) may appear in a peripheral region 720 of the field of view. Detecting and identifying trees or buses may be of relatively lower importance, resulting in reduced angular optical resolution in the peripheral region 720 and, correspondingly, a design with a higher amount of distortion aberration in the distortion aberration profile of the foveated lens 510 at large angular values. The angular optical resolution corresponding to a distortion aberration profile design that incorporates both of these features is shown, for example, in FIGS. 6A and 6B.

[0147] It is understood that the field of view shown in Figure 7 is provided for illustrative purposes only. For example, the field of view illustrated in Figure 7 may not accurately represent the image distortion induced by the distortion aberration profile of the foveated lens 510. Similarly, the aspect ratio of the field of view may not represent the actual field of view (e.g., based on the placement of the foveated lens 510 and the image sensor 504). Thus, while the illustrated field of view may be indicative of an image captured by the image sensor 504 of the camera 500, the field of view may not accurately correspond to the actual captured image (e.g., because it is not properly distorted).

[0148] 8 is a flowchart diagram of a method 800, according to an example embodiment. In some embodiments, method 800 may be implemented using a camera (e.g., a camera 500 including a foveated lens, as shown and described with reference to FIGS. 5A-5D).

[0149] At block 802, the method 800 may include receiving light from an environment with a rotationally symmetric foveated lens.

[0150] At block 804, the method 800 may include generating an image at an image plane based on the received light by a rotationally symmetric foveated lens.

[0151] At block 806, method 800 may include capturing an image having an associated field of view of the environment with an image sensor having an associated image sensor resolution, the image sensor positioned at an image plane. Based on the distortion aberration profile and image sensor resolution of the rotationally symmetric foveated lens, the captured image may exhibit a first angular optical resolution in a central region of the field of view. Based on the distortion aberration profile and image sensor resolution of the rotationally symmetric foveated lens, the captured image may also exhibit a second angular optical resolution in a peripheral region of the field of view. Furthermore, based on the distortion aberration profile and image sensor resolution of the rotationally symmetric foveated lens, the captured image may exhibit an intermediate angular optical resolution in an intermediate region of the field of view. The intermediate region of the field of view may be between the central region of the field of view and the peripheral region of the field of view. The first angular optical resolution may be enhanced relative to the second angular optical resolution. The intermediate angular optical resolution may be between the first angular optical resolution and the second angular optical resolution.

[0152] The present disclosure is not limited with respect to the specific embodiments described in this application, which are intended as illustrations of various aspects. Many modifications and variations can be made without departing from the spirit and scope of the present disclosure, as will be apparent to those skilled in the art. In addition to the methods and apparatus recited herein, functionally equivalent methods and apparatus within the scope of the present disclosure will be apparent to those skilled in the art from the foregoing description. Such modifications and variations are intended to fall within the scope of the appended claims.

[0153] The above detailed description, with reference to the accompanying drawings, describes various features and functions of the disclosed systems, devices, and methods. In the figures, like symbols typically refer to like components identically, unless the context dictates otherwise. The exemplary embodiments described herein and in the figures 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 the aspects of the present disclosure, as generally described herein and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are expressly contemplated.

[0154] With respect to any or all of the message flow diagrams, scenarios, and flowcharts in the figures and discussed herein, each step, block, operation, and / or communication may represent the processing of information and / or the transmission of information according to the exemplary embodiments. Alternative embodiments are included within the scope of these exemplary embodiments. In these alternative embodiments, for example, operations described as steps, blocks, transmissions, communications, requests, responses, and / or messages may be executed in an order different from that shown or discussed, such as substantially simultaneously or in reverse order, depending on the functionality involved. Furthermore, more or fewer blocks and / or operations may be used in any of the message flow diagrams, scenarios, and flowcharts discussed herein, and these message flow diagrams, scenarios, and flowcharts may be combined with each other, either in part or in whole.

[0155] A step, block, or operation corresponding to the processing of information may correspond to circuitry that can be configured to perform specific logical functions of the methods or techniques described herein. Alternatively or additionally, a step or block corresponding to the processing of information may correspond to a module, segment, or portion of program code (including associated data). The program code may include one or more instructions executable by a processor to perform specific logical operations or actions in the method or technique. The program code and / or associated data may be stored in any type of computer-readable medium, such as a storage device including a RAM, a disk drive, a solid-state drive, or another storage medium.

[0156] Additionally, steps, blocks, or acts corresponding to one or more information transmissions may correspond to information transmissions between software and / or hardware modules in the same physical device, although other information transmissions may be information transmissions between software and / or hardware modules in different physical devices.

[0157] The particular arrangement shown in the figures should not be considered limiting. It should be understood that other embodiments may include more or fewer of each element shown in a given figure. Furthermore, some of the illustrated elements may be combined or omitted. Furthermore, example embodiments may include elements not illustrated in the figures.

[0158] While various aspects and embodiments are disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, the true scope being indicated by the following claims.

Claims

1. 1. An apparatus comprising: A rotationally symmetric foveated lens, receives light from the environment, a foveated lens configured to generate an image at an image plane based on the received light; an image sensor having an associated image sensor resolution, the image sensor positioned at the image plane and configured to capture an image having an associated field of view of the environment; Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image is a first angular optical resolution in a central region of the field of view; a second angular optical resolution in a peripheral region of the field of view; an intermediate angular optical resolution in an intermediate region of the field of view, the intermediate region of the field of view being between the central region of the field of view and the peripheral region of the field of view; the first angular optical resolution is improved relative to the second angular optical resolution; the intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution; wherein the distortion aberration profile of the rotationally symmetric foveated lens transitions from a first distortion in the central region of the field of view to a second distortion measured from f tan(θ), through an intermediate distortion, where f is a focal length corresponding to the peripheral region of the field of view and θ is a field angle relative to a principal axis.

2. The apparatus of claim 1 , wherein the environment comprises an environment surrounding a vehicle.

3. The apparatus of claim 2 , wherein the forward or reverse direction of the vehicle coincides with a central region of the field of view.

4. the intermediate region of the field of view coincides with the location of a roadside marking, an object adjacent to the road surface, a traffic signal, or an exit lane; and The device of claim 2 , wherein the central region of the field of view coincides with a lane marker, a road surface, or the location of another vehicle.

5. 2. The apparatus of claim 1, wherein the first angular optical resolution is between 100 μrad / pixel and 250 μrad / pixel, and the second angular optical resolution is between 500 μrad / pixel and 1000 μrad / pixel.

6. the image sensor is positioned off-center perpendicular to a major axis of the rotationally symmetric foveated lens; The apparatus of claim 1 , wherein the elevation range of the field of view is asymmetric with respect to a horizon in the environment.

7. The apparatus of claim 1 , wherein the absolute value of the second skewness is at least 60%.

8. the foveated lens comprises a lens assembly; The lens assembly An aperture stop, a first aspherical lens having negative refractive power; a second aspherical lens having a positive refractive power; a spherical lens having a positive refractive power; the second aspherical lens and the first aspherical lens are positioned on opposite sides of the aperture stop; the image sensor is positioned closer to the second aspherical lens than to the first aspherical lens; the spherical lens is positioned between the first aspherical lens and the environment; 10. The apparatus of claim 1.

9. The apparatus of claim 8 , wherein the first aspheric lens has a diameter of less than 25 mm.

10. The apparatus of claim 1 , wherein the foveated lens comprises components made from molded optical glass.

11. The device of claim 1 , wherein the foveated lens is made from molded optical plastic.

12. the foveated lens comprises a lens holder; The apparatus of claim 1 , wherein the lens holder is fabricated to provide thermal stability.

13. The apparatus of claim 12 , wherein the lens holder is made from aluminum.

14. The apparatus of claim 1 , wherein the field of view captures an azimuth portion of the environment spanning at least 120° and an elevation portion of the environment spanning at least 45°.

15. the image sensor has an aspect ratio of at least 2:1 (width:height); the image sensor resolution is at least 17 MP; Each photosensitive pixel in the image sensor has a resolution of 6.25 μm 2 The apparatus of claim 1 having a surface size of less than 100 nm.

16. 1. A method comprising: The rotationally symmetric foveated lens receives light from the environment, generating an image at an image plane based on the received light by the rotationally symmetric foveated lens; capturing an image having an associated field of view of the environment with an image sensor having an associated image sensor resolution, the image sensor being positioned at the image plane; Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image is a first angular optical resolution in a central region of the field of view; a second angular optical resolution in a peripheral region of the field of view; an intermediate angular optical resolution in an intermediate region of the field of view, the intermediate region of the field of view being between the central region of the field of view and the peripheral region of the field of view; the first angular optical resolution is improved relative to the second angular optical resolution; the intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution; wherein the distortion aberration profile of the rotationally symmetric foveated lens transitions from a first distortion in the central region of the field of view to a second distortion measured from f tan(θ), through an intermediate distortion, where f is a focal length corresponding to the peripheral region of the field of view and θ is a field angle relative to a principal axis.

17. A vehicle, A camera, the camera comprising: A rotationally symmetric foveated lens, receives light from the environment, a foveated lens configured to generate an image at an image plane based on the received light; a camera comprising an image sensor having an associated image sensor resolution, the image sensor positioned at the image plane and configured to capture an image having an associated field of view of the environment; Based on the distortion aberration profile of the rotationally symmetric foveated lens and the image sensor resolution, the captured image is a first angular optical resolution in a central region of the field of view; a second angular optical resolution in a peripheral region of the field of view; exhibiting an intermediate angular optical resolution in an intermediate region of the field of view, the intermediate region of the field of view being between the central region of the field of view and the peripheral region of the field of view; the first angular optical resolution is improved relative to the second angular optical resolution; the intermediate angular optical resolution is between the first angular optical resolution and the second angular optical resolution; a rotationally symmetric foveated lens, the distortion aberration profile of which transitions from a first distortion in the central region of the field of view to a second distortion measured from f tan(θ), through an intermediate distortion, where f is a focal length corresponding to the peripheral region of the field of view and θ is a field angle relative to a major axis.

Images