Compensating for window-related energy losses in lidar systems

Abstract

Disclosed herein is a LIDAR system, comprising one or more light sources configured to emit one or more light beams for scanning a field of view (FOV) of the LIDAR system and one or more processors. The light beams are directed toward the FOV via one or more windows associated with the LIDAR system such that the light beams are incident on the window(s) at a plurality of different angles each associated with a respective one of a plurality of portions of the FOV. The one or more processors configured for dynamically adjusting one or more projection parameters of one or more of the light beams according to the angle of incidence of the respective light beam on the window(s) to compensate for loss of energy of the respective light beam due to reflection off the window(s).

Description

COMPENSATING FOR WINDOW-RELATED ENERGY LOSSES IN LIDAR SYSTEMSTECHNICAL FIELD

[0001] The present disclosure relates to Light Detection and Ranging (LIDAR) technology for scanning a surrounding environment, and, more specifically, but not exclusively, to compensating for energy losses of the projected and optionally the reflected light due to one or more windows associated with the LIDAR system through which the light is transmitted.BACKGROUND

[0002] With the advent of driver assist systems and autonomous vehicles, automobiles are equipped with systems capable of reliably sensing and interpreting their surroundings, including identifying obstacles, hazards, objects, and other physical parameters that might impact navigation of the vehicle. To this end, various technologies are currently used, for example, Radio Detection and Ranging (RADAR), LIDAR, camera-based systems, and / or the like operating alone, in conjunctions and / or in a redundant manner.

[0003] LIDAR based object detection and surroundings mapping has proved to be highly efficient, reliable, and robust compared to other detection technologies. However, while such LIDAR based detection systems may be extremely efficient, their performance, whether employing pulsed or continuous wave illumination, may be affected, and possibly significantly degraded due to energy losses of the light projected for scanning the environment, for example, energy losses resulting from reflections of the light from one or more windows deployed on the optical path of the light downstream from the between the light emitters of the LIDAR system.SUMMARY

[0004] It is an object of the present disclosure to provide methods, systems and / or software program products for increasing scanning performance of LIDAR systems by adjusting projection parameters of the light projected for scanning an environment of the LIDAR system to compensate for energy loses of the projected light, and optionally of the light reflected from objects in the environment, due to interaction of the light with one or more windows deployed along the optical path of the light. This objective is achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description, and the figures. It should be noted that multiple such implementation forms may be combined together to any single embodiment.

[0005] According to a first aspect of embodiments disclosed herein, there is provided a LIDAR system, comprising one or more light sources configured to emit one or more light beams for scanning a field of view (FOV) of the LIDAR system and one or more processors. Wherein the one or more light beams are directed toward the FOV at a plurality of projection angles via one or more windows associated with the LIDAR system such that the one or more light beams are incident on the one or more windows at a plurality of different angles of incidence. The one or more processors are configured for dynamically adjusting one or more projection parameters of the one or more light beams according to the angle of incidence of the respective light beam on the one or more windows to compensate for loss of energy of the one or more light beams due to interaction of the one or more light beams with the one or more windows.

[0006] According to a second aspect of embodiments disclosed herein, there is provided a method of adjusting parameters of light proj ected by a LIDAR system to compensate for energy losses, comprising using one or more processors of the LIDAR system for operating one or more light sources of the LIDAR system to emit one or more light beams for scanning at least part of a field of view (FOV) of the LIDAR system, wherein the at least one light beam is directed toward the FOV at a plurality of projection angles via at least one window such that the at least one light beam is incident on the at least one window at a plurality of different angles of incidence, and dynamically adjusting one or more projection parameters of the one or more light beams according to the angle of incidence of the respective light beam on the one or more windows to compensate for loss of energy of the one or more light beams due to interaction of the one or more light beams with the one or more windows.

[0007] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the one or more processors are further configured to adjust the one or more projection parameters of the one or more light beams to control energy of the one or more light beams according to one or more window parameters of a window portion upon which the respective light beam is incident. The one or more window parameters are members of a group comprising: curvature, thickness, diffraction index, and / or material type.

[0008] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the one or more projection parameters are adjusted to compensate for loss of energy of the one or more light beams in order to ensure that the energy of the one or more light beams downstream from the one or more windows exceeds a certain energy threshold.

[0009] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the LIDAR system further comprises one or more sensors configured to receive at least some light of the one or more light beams reflected by one or more objects in the FOV. Wherein the one or more projection parameters are adjusted according to the angle of incidence of the one or more reflected light beams on the one or more windows to compensate for loss of energy of the one or more reflected light beams due to interaction of the one or more reflected light beams with the one or more windows.

[0010] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the LIDAR system employs time of flight (ToF) technology in which the one or more light beams comprises a plurality of light pulses. The one or more projection parameters of such a ToF LIDAR system are members of a group comprising: a pulse amplitude (intensity), a pulse width, a number of pulses, a pulse sequence pattern, a wavelength, and / or a polarization of one or more of the plurality of light pulses.

[0011] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the LIDAR system employs continuous wave (CW) technology in which the one or more light beams comprises a continuous wave light signal for scanning the FOV. The one or more projection parameters of such a CW LIDAR system are members of a group comprising: a duration of time of illuminating each of the plurality of portions of the FOV, an amplitude (intensity), a wavelength, and / or a polarization of the continuous wave light signal.

[0012] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the LIDAR system comprises one or more deflectors configured to deflect the one or more light beams toward each of the plurality of portions of the FOV.

[0013] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the one or more projection parameters comprise one or more scanning parameters of a scanning pattern of the one or more deflector. The one or more scanning parameters are members of a group comprising: scan speed, scan time, and / or scan frequency.

[0014] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the angle of incidence of the one or more light beams on the one or more windows at any given time is determined based on an instantaneous positioning of the one or more deflectors with respect to the FOV.

[0015] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, one or more projection parameters are adjusted to compensate for loss of energy of the one or more light beams due to partial deflection of the one or more light beams toward the FOV at a perimeter of the one or more deflectors.

[0016] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the LIDAR system comprises a plurality of light sources each configured to emit light for scanning one or more of a plurality of portions of the FOV at the plurality of projection angles.

[0017] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the angle of incidence of the one or more light beams on the one or more windows at any given time is determined based on positioning of each of the plurality of light sources with respect to the FOV at the respective time.

[0018] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the plurality of light sources are arranged according to a varying distribution defining increased density of peripheral light sources configured to emit light having increased angle of incidence on the one or more windows and reduced density of central light sources configured to emit light having reduced angle of incidence on the one or more windows.

[0019] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, one or more of the projection parameters are adjusted for one or more light beams having a cross-section incident on a window portion of the one or more windows having a varying curvature based on an aggregated energy loss computed for a plurality of angles of incidence of the one or more light beams on the varying curvature window portion.

[0020] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, one or more projection parameters of one or more light beams are adjusted to compensate for loss of energy of the one or more light beams due to partial transmission of the one or more light beams toward the FOV which is partially blocked by a non-transmitting section of the one or more windows.

[0021] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, one or more projection parameters of one or more light beams are adjusted to control energy of the one or more lightbeams according to a scanned portion of the plurality of portions of FOV defining the angle of incidence of the one or more light beams on the one or more windows.

[0022] In an optional implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the one or more processors are further configured to automatically identify one or more window parameters of one or more of the windows which potentially affect interaction of the one or more light beams with the one or more windows. The one or more parameters are members of a group comprising: curvature, thickness, diffraction index, and / or material type.

[0023] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the one or more processors identify the one or more parameters of one or more of the windows based on scanning the one or more windows with light emitted by one or more of the light sources and detecting reflections of the emitted light reflected by the one or more windows.

[0024] In a further implementation form of the first, and / or second aspects optionally together with one or more of the other implementation forms, the light emitted by the one or more light sources for scanning the one or more windows has an intensity not exceeding a certain threshold.

[0025] Consistent with other disclosed embodiments, non-transitory computer-readable storage media may store program instructions, which are executed by at least one processor and perform any of the methods described herein.

[0026] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various disclosed embodiments by way of example only. With specific reference now to the drawings in detail, it is stressed that the particulars are shown by way of example and for purposes of illustrative discussion of embodiments disclosed herein. In this regard, the description taken with the drawings makes apparent to those skilled in the art how disclosed embodiments may be practiced.

[0028] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various disclosed embodiments.

[0029] In the drawings:

[0030] FIG. 1 and FIG. 2 are schematic illustrations of an exemplary LIDAR system, in accordance with embodiments of the present disclosure;

[0031] FIG. 3 is a flow chart of an exemplary process of adjusting projection parameters of light beams projected to scan an FOV of a LIDAR system according to an angle of incidence of the light beams on one or more windows associated with the LIDAR system, in accordance with embodiments of the present disclosure;

[0032] FIG. 4 depicts schematic illustrations of exemplary LIDAR systems configured to project light for scanning their FOV via a window associated with the LIDAR systems, in accordance with embodiments of the present disclosure;

[0033] FIG. 5 is a schematic illustration of a distribution of an exemplary an extended crosssection light beam, projected by a LIDAR system for scanning an FOV of the LIDAR system, on window associated with the LIDAR system, in accordance with embodiments of the present disclosure;

[0034] FIG. 6A and FIG. 6B are schematic illustrations of exemplary angles of incidence of light beams, projected by a LIDAR system for scanning an FOV of the LIDAR system, on a window associated with the LIDAR system, in accordance with embodiments of the present disclosure;

[0035] FIG. 7 depicts schematic illustrations of exemplary windows deployed downstream from light sources of a LIDAR system configured to project light beams for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure;

[0036] FIG. 8 is a schematic illustration of an exemplary light beam extending over a varying curvature surface of an exemplary window associated with a LIDAR system, in accordance with embodiments of the present disclosure;

[0037] FIG. 9 is a schematic illustration of an exemplary of multiple windows associated with a LIDAR system configured to project light beams for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure;

[0038] FIG. 10 depicts schematic illustrations of clipping effects of light beams projected by a LIDAR system due to partial blocking of a window associated with the LIDAR system, in accordance with embodiments of the present disclosure;

[0039] FIG. 11 depicts schematic illustrations of clipping effects of light beams projected by a LIDAR system due to partial deflection of the light beams by a deflector of the LIDAR system, in accordance with embodiments of the present disclosure;

[0040] FIG. 12 depicts schematic illustrations of angles of incidence of exemplary light beams reflected from one or more objects in an FOV of the LIDAR on a window associated with the LIDAR system, in accordance with embodiments of the present disclosure; and

[0041] FIG. 13 is a flow chart of an exemplary process of detecting one or more windows deployed associated a LIDAR system through which light beams projected by the LIDAR system pass for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure.DETAILED DESCRIPTION

[0042] The present disclosure relates to Light Detection and Ranging (LIDAR) technology for scanning a surrounding environment, and, more specifically, but not exclusively, to compensating for energy losses of the projected and optionally the reflected light due to one or more windows associated with the LIDAR system through which the light is transmitted.

[0043] LIDAR systems are configured to detect objects in their external environment by scanning the external environment, specifically scanning a certain Field of View (FOV) defined by a certain angular extent, for example, a horizontal angular extent and a vertical angular extent. In order to scan the angular extent of the FOV and / or part thereof, the LIDAR system may therefore project light, for example, one or more laser beams in a plurality of different angles toward the FOV.

[0044] Typically the light projected (transmitted) by the LIDAR system, and optionally light reflected from the FOV, may travel through one or more windows associated with the LIDAR system which are located on an optical path of the light, for example, a window of the LIDAR system itself, a window of a vehicle in which the LIDAR system is installed (e.g., a windshield, a lamp cover, etc.), and / or the like.

[0045] Since the light is projected toward the FOV at a plurality of different angles, the light may have a plurality of different angles of incidence on the window(s) it is transmitted through an optical path to the external environment of the LIDAR system. Interaction of the light with the window(s), for example, reflection, deflection, absorption, scattering, diffusion, clipping, blocking, and / or the like may depend on the angle of incidence of the light (beam) on the window(s). for example, as known in the art, light which is incident on a window may be subject to energy losses due to reflections which depend on an angle of incidence of the light on the window(s). In another example, light projected at one or more angles, specifically angles corresponding to peripheral edges of one or more windows may be subject to clipping, i.e., some of the light may be blocked by the window(s) or system housing thus blocking part ofthe transmitted beam and reducing energy of the projected light. In another example, one or more sections of one or more windows may be only partially transparent to the projected light such that the light projected at angles corresponding to these partially transparent segments may be subject to energy loss.

[0046] The light beams projected by the LIDAR system toward the FOV at a plurality different angles may therefore be subject to different energy losses depending on their angle of incidence on the window(s) associated with the LIDAR system.

[0047] As known in the art, the angle of incidence of a light beam (ray) is defined as the angle between the ray incident on a surface and a line perpendicular (at 90 degree angle) to the surface at the point of incidence, called the normal. However, for brevity, angles of incidence of the light on a window or a surface are simply stated as such, i.e., with respect to the window and / or surface, rather than with respect to the normal to avoid repeatedly indicating the normal to the window / surface which makes the description cumbersome and less readable.

[0048] According to some embodiments of the present disclosure, there are provided devices, systems, and methods for adjusting one or more projection parameters of light beams projected by the LIDAR system for scanning the FOV according to an angle of incidence of the projected light beams on one or more windows associated with the LIDAR system which are deployed on the optical path of the light in order to compensate for energy losses in the projected light due to its interaction with the window(s).

[0049] In particular, the projection parameters may be adjusted to compensate for energy losses in the projected light in order to ensure that the light downstream from the window(s) has an energy level exceeding a certain threshold level, for example, an energy level sufficient for maintaining a certain detection range. In other words, the link budget (energy) of the light projected to illuminate the FOV may be controlled according to the angle of incidence of the light on the window(s) associated with the LIDAR system to compensate for angle dependent energy losses of the projected light.

[0050] For example, light projected towards the center regions of the FOV where the angle of incidence of the projected light beams on the window(s) may be significantly small, energy loss of the light due to reflections may be significantly small. However, light projected toward peripheral (side) regions of the FOV may have oblique incidence angles upon the window(s) resulting in increased reflections and thus increased energy losses of the projected light. The projection parameters of the projected light may be therefore adjusted to compensate for increased energy loss for light beams having oblique angles of incidence to ensure the light in these peripheral regions exceeds a certain energy threshold level.

[0051] The projection parameters may include one or more parameters which may be adjusted to control the energy of the projected light beams. For example, the projection parameters may include an intensity (amplitude) of the projected light such that increasing the intensity of the light beam may increase the energy of the light beam while reducing the intensity of the light beam may reduce the energy of the light beam. In another example, in Time of flight (ToF) based LIDAR systems configured to transmit light pulses, the projection parameters may include, for example, a number of emitted pulses, a pulse width, a pulse shape, a number of pulses in a pulse sequence, a time gap between pulses in a pulse sequence, and / or the like for controlling the energy of the emitted pulses. In another example, in Continuous Wave (CW) based LIDAR systems configured to transmit continuous light signals (e.g., FMCW, phaseshift continuous wave, etc.), the projection parameters may include a pixel time, i.e., the duration of time during which the continuous light signal is projected in each angle toward the FOV such that increasing the pixel time in a respective projection angle may adjusted to control a number of cycles (periods) of the cyclic CW light signal reflected from the FOV in response to the CW light signal projected toward the FOV. Since object detection, ranging and / or velocity may be determined based on changes in the reflected CW signal (e.g., phase, frequency etc.) compared to a local oscillator reference signal, mixing the reflected CW signal with the local oscillator reference signal over an increased number of cycles may compensate for degradation in the Signal to Noise Ratio (SNR) of the reflected CW signal due to the energy losses induced by the reflections of the CW signal off the window(s). In another example, the projection parameters may include a polarization mode of the light projected to scan the FOV.

[0052] Since the angle of incidence of the light beams may depend on a curvature of the surface of the window(s), which may be uniform or variable across the window, the angle of incidence of each light beam may be derived from a projection angle of the respective light beam and the curvature of the portion of the window(s) (surface section) upon which the respective light beam is incident. Since the window(s) is deployed between the light source of the LIDAR system and the FOV, each window portion of the window(s) corresponds to one or more portions of the FOV. The window portion upon which each light beam is incident may be therefore derived from the projection angle of the respective light beam which is the angle for scanning certain one or more portions of the FOV.

[0053] One or more of the projection parameters of the respective light beam may be adjusted accordingly based on the angle of incidence of each light beam upon the window(s) (which is derived from the angle of projection of the respective light beam),. For example, a first light beam projected at a large (oblique) projection angle may have an angle of incidence on thewindow(s) that is larger than that of a second light beam projected at a smaller projection angle and may thus have a smaller angle of incidence on the window(s), i.e., an angle closer to the normal to the window(s). For example, the angle of incidence of the first light beam may be larger than 60° with respect to the normal, while the angle of incidence of the second light beam may be smaller than 60° with respect to the normal. In such a case, the first light beam may be transmitted with increased energy compared to the energy of the second light beam in order to compensate for increased energy losses in the first light beam due to its increased angle of incidence on the window(s). In another example, polarization, specifically linear P and S polarization components, of each of one or more light beams may be adjusted according to their respective projection angles such that the polarization of the respective light beam with respect to the plane of incidence of the respective light beam (i.e., the surface of the window) may be closer to the Brewster angle thus increasing transmittance of the respective light beam through the window(s) which may significantly increase energy of the light beam transmitted via the window(s).

[0054] Optionally, one or more projection parameters of the light projected toward the FOV may be further adjusted to compensate for energy losses in light reflected from the one or more objects in the FOV illuminated with the light projected by the LIDAR system. On their path to one or more light detectors of the LIDAR system, light reflected and / or scattered from objects in the FOV back toward the LIDAR system may pass through the same window(s) the projected light traveled through. In particular, light reflected from a respective point in the FOV may have a significantly similar (same) angle of incidence on the window(s) as the light projected to illuminate the respective point in the FOV. Therefore, the angle of incidence of light reflected from points in the FOV illuminated with projected light beams having oblique angles of incidence on the window(s) may also have oblique angles of incidence on the window(s). The projection parameters of the projected light may be therefore further adjusted to compensate for losses in the reflected light induced by the oblique angles of incidence and ensure that sufficient light is reflected from the FOV to support efficient object detection.

[0055] Optionally, one or more projection parameters of the light projected toward the FOV may be further adjusted to compensate for energy losses in the projected light resulting from clipping by the window(s), i.e., partial transmission of the projected light due to one or more non-transmitting sections and / or elements of the window(s) which at least partially block and thus not fully transmit the light projected by the LIDAR system toward the FOV. For example, when illuminating one or more peripheral (side) regions of the FOV, specifically extreme peripheral regions, at least some of the projected light may hit a perimeter frame of thewindow(s) and is thus not transferred to the FOV. In another example, the window may comprise one or more non-transmitting elements (e.g., opaque elements, metal elements, etc.) which may block at least some of the projected light that hits these non-transmitting elements.

[0056] Optionally, one or more projection parameters of the light projected toward the FOV may be further adjusted to compensate for energy losses in the projected light resulting from clipping one or more deflectors of the LIDAR system (e.g., rotating polygon mirror, vertically rotating mirror, etc.) configured to deflect light emitted by one or more light sources of the LIDAR system for projecting the light toward the FOV. For example, one or more light beams emitted by the light source(s) may directed to one or more perimeter areas of the deflector(s) such that at least some of this light may not fall on a surface which effectively deflects the light toward the FOV and thus energy of these projected light beams is reduced.

[0057] Optionally, presence of the window(s) in the optical path of the light projected to scan the FOV and optionally in the optical path of the light reflected from the FOV and one or more window parameters of the window may be determined automatically, for example, by the LIDAR system. The LIDAR system may be configured to project light, typically low intensity light, and analyze the reflected light to identify whether the light passed through one or more windows. Based on the analysis, LIDAR system may further determine one or more window parameters of each detected window, for example, a curvature, a thickness, a material, a refraction index, and / or the like.

[0058] Adjusting projection parameters of the light projected by LIDAR systems for scanning an FOV in their external environment in order to compensate for energy losses in the projected light induced by one or more windows through which the light passes may present major benefits and advantages over currently existing LIDAR systems.

[0059] First, by adjusting the projection parameters of the projected light, a certain energy level downstream (i.e., beyond) the window(s) to compensate for light energy loses may ensure that the energy of each light beam projected by the LIDAR system exceeds a certain energy level across the entire FOV independent of the projection angle of the light beams. The LIDAR system capable of adjusting the projection parameters may therefore ensure performance of the LIDAR system, for example, range, detection reliability, false detection rate, and / or the like, across the entire FOV without degradation due to window(s) associated with LIDAR system as opposed to existing LIDAR systems which may exhibit reduced and / or degraded performance in at least some their FOV, specifically regions of the FOV illuminated with light beams having oblique angles of incidence on the window(s).

[0060] Moreover, one or more of the projection parameters may be adjusted for light beams projected toward the FOV in one or more angles to ensure that the energy of the projected light downstream from the window(s) does not exceed one or more energy threshold levels, for example, a regulatory defined maximum energy level at one or more distances from the LIDAR system, for example, as defined by eye safety regulations. This may significantly improve performance of the LIDAR system compared to existing LIDAR systems since such existing systems may be configured to project toward the entire FOV light having the same energy level, specifically an energy which does not exceed the energy defined by the eye safety regulations. In particular, the energy level common to all light beams projected by such LIDAR systems may be adapted according to the light beams which are perpendicular to the window(s) surface and thus have the least energy losses due to transfer through the window(s). As such, projected light beams having oblique angles of incidence on the window(s) are limited by the same eye safety energy level and their energy is further reduced due to losses induced by their oblique incidence angles thus significantly degrading detection performance of these existing LIDAR systems.

[0061] Furthermore, one or more of the projection parameters may be adjusted for the light beams projected toward the FOV according to characteristics of one or more windows located between the LIDAR system and the FOV. This may enable dynamically adapting the LIDAR system to a plurality of different deployment configurations in which the LIDAR system may be associated with a plurality of different windows having different characteristics thus eliminating the need for specific customization of the LIDAR system for each deployment configuration according to the window(s) associated with the LIDAR system in the respective deployment configuration as may be needed for the existing LIDAR system having no dynamic control over the projection parameters.

[0062] In addition, automatically detecting presence of one or more windows deployed in the optical path of the light projected by the LIDAR system and one or more window parameters of each such window may significantly increase adaptation and adoption of the LIDAR system to a plurality of different installation and deployment configurations. This is since the LIDAR system may automatically adjust and adapt its projection parameters according to the window(s) present in its optical path to compensate for energy losses in the projected and optionally the reflected light according to the specific window parameters of the detected window(s) to achieve optimal light projection without customizing each LIDAR system according to its specific installation configuration.

[0063] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numbers are used in the drawings and the following description to refer to the same or similar parts.

[0064] While illustrative embodiments are described herein, it is to be understood that these are not necessarily limited in their application to the details of construction and / or arrangement of the components, systems, or methods, since modifications, adaptations and other implementations are possible. For example, as may be appreciated by one skilled in the art, substitutions, additions, and / or modifications may be made to the components illustrated in the drawings, and the illustrative methods described herein may be modified by substituting, reordering, removing, or adding steps to the disclosed methods.

[0065] Accordingly, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the proper scope is defined by the appended claims.

[0066] Referring now to the drawings, FIG. 1 and FIG. 2 are schematic illustrations of an exemplary LIDAR system, in accordance with embodiments of the present disclosure.

[0067] An exemplary LIDAR system 100 may be used, for example, in one or more ground autonomous or semi-autonomous vehicles 110, for example, road-vehicles such as, for example, cars, buses, vans, trucks and any other terrestrial vehicle. Autonomous ground vehicles 110 equipped with the LIDAR system 100 may scan their environment and drive to a destination vehicle with reduced and potentially without human intervention. In another example, the LIDAR system 100 may be used in one or more autonomous / semi-autonomous aerial-vehicles such as, for example, Unmanned Aerial Vehicles (UAV), drones, quadcopters, and / or any other airborne vehicle or device. In another example, the LIDAR system 100 may be used in one or more autonomous or semi-autonomous water vessels such as, for example, boats, ships, hovercrafts, submarines, and / or the like. Autonomous aerial-vehicles and watercrafts with LIDAR system 100 may scan their environment and navigate to a destination autonomously or under remote human operation.

[0068] It should be noted that the LIDAR system 100 or any of its components may be used together with any of the example embodiments and methods disclosed herein. Moreover, while aspects of the LIDAR system 100 may be described herein with respect to an exemplary vehicle-based LIDAR platform, the LIDAR system 100, any of its components, or any of the processes described herein may be applicable to one or more LIDAR systems of other platform types. As such, LIDAR systems such as the LIDAR system 100 may be installed, mounted, integrated, and / or otherwise deployed, in dynamic and / or stationary deployment for one or more other applications, for example, a surveillance system, a security system, a monitoringsystem, and / or the like. Such LIDAR systems 100 may be configured to scan their environment in order to detect objects according to their respective application needs, criteria, requirements, and / or definitions.

[0069] The LIDAR system 100 be configured to detect tangible objects in an environment of the LIDAR system 100, specifically in a scene contained in an FOV 120 of the LIDAR system 100. The LIDAR system 100 may detect object in the FOV 120 based on reflected light, and more specifically, based on light projected by the LIDAR system 100 and reflected by objects in the FOV 120.

[0070] The scene may include some or all objects within the FOV 120, in their relative positions and in their current states, for example, ground elements (e.g., earth, roads, grass, sidewalks, road surface marking, etc.), sky, man-made objects (e.g., vehicles, buildings, signs, etc.), vegetation, people, animals, light projecting elements (e.g., flashlights, sun, other LIDAR systems, etc.), and / or the like.

[0071] An object refers to a finite composition of matter that may reflect light from at least a portion thereof. An object may be at least partially solid (e.g., car, tree, etc.), at least partially liquid (e.g., puddles on a road, rain, etc.), at least partly gaseous (e.g., fumes, clouds, etc.), made of a multitude of distinct particles (e.g., sandstorm, fog, spray, etc.), and / or a combination thereof. An object may be of one or more scales of magnitude, such as, for example, ~1 millimeter (mm), -5 mm, -10 mm, ~50 mm, -100 mm, -500 mm, -1 meter (m), ~5m, ~10m, ~50m, ~100m, and so on.

[0072] The LIDAR system 100 may be configured to detect objects by scanning the environment of the LIDAR system 100, i.e., illuminating at least part of the FOV 120 of the LIDAR system 100 and collecting and / or receiving light reflected from (scattered of) objects in the illuminated part(s) of the FOV 120. The LIDAR system 100 may scan the FOV 120 and / or part thereof in a plurality of scanning cycles (frames) conducted at one or more frequencies (frame rate), for example, 5 frames per second (fps), 10 fps, 15 fps, 20 fps, and / or the like.

[0073] The LIDAR system 100 may apply one or more scanning mechanisms, methods, and / or implementations for scanning the environment. For example, the LIDAR system 100 may scan the environment by moving and / or pivoting one or more deflectors configured to deflect light emitted from one or more light sources of the LIDAR system 100 in differing directions toward distinct parts of the FOV 120. In another example, the LIDAR system 100 may scan the environment by changing positioning (i.e., location and / or orientation) of one or more sensor associated with the LIDAR system 100 with respect to the FOV 120. In another example, theLIDAR system 100 may scan the environment by changing positioning (i.e., location, and / or orientation) of one or more of the light sources associated with the LIDAR system 100 with respect to the FOV 120. In another example, the LIDAR system 100 may scan the environment by changing the positioning of the sensor(s) and the light source(s) associated with the LIDAR system 100 with respect to the FOV 120. In another example, the LIDAR system 100 may comprise an array of light sources each positioned, oriented, configured, and / or operated to scan a respective portion of the FOV 120.

[0074] The FOV 120 scanned by the LIDAR system 100, i.e., the environment in which the LIDAR system 100 may detect objects, may include an extent of the observable environment of LIDAR system 100 in which objects may be detected. The extent of the FOV 120 may be defined by a horizontal range (e.g., 50°, 120°, 360°, etc.), and a vertical elevation (e.g., ±20°, +40°-20°, ±90°, 0°-90°, etc.). The FOV 120 may also be defined within a certain range, for example, up to a certain depth / distance (e.g., 100 m, 200 m, 300 m, etc.), and up to a certain vertical distance (e.g., 10 m, 25 m, 50 m, etc.).

[0075] The FOV 120 may be divided (segmented) into a plurality of portions 122 (segments), also designated FOV pixels, having uniform and / or different sizes. In some embodiments, as illustrated in FIG. 1, the FOV 120 may be divided into a plurality of portions 122 arranged in the form of a two-dimensional array of rows and columns. At any given time during a scan of the FOV 120, the LIDAR system 100 may scan an instantaneous FOV which comprises a respective portion 122. Obviously, the portion 122 scanned during each instantaneous FOV may be narrower than the entire FOV 120, and the LIDAR system 100 may thus move the instantaneous FOV within the FOV 120 in order to scan the entire FOV 120.

[0076] Detecting an object may broadly refer to determining an existence of the object in the FOV 120 of the LIDAR system 100 which reflects light emitted by the LIDAR system 100 toward one or more light sensors, interchangeably designated sensors, or detectors, associated with the LIDAR system 100. Additionally, or alternatively, detecting an object may refer to determining one or more physical parameters relating to the detected object and generating information indicative of the determined physical parameters, for example, a distance between the detected object and one or more other objects (e.g., the LIDAR system 100, another object detected in the FOV 120, ground (earth), etc.), a kinematic parameter of the detected object (e.g., relative velocity, absolute velocity, movement direction, expansion of the object, etc.), a reflectivity (level) of the detected object, and / or the like.

[0077] The LIDAR system 100 may employ one or more detection technologies. For example, the LIDAR system 100 may employ Time of Flight (ToF) detection where the light signalemitted by the light source(s) of the LIDAR system 100 may comprise one or more short pulses, whose rise and / or fall time may be detected in a received signal reflected by one or more objects in the FOV 120 which are illuminated with the emitted light. In another example, the LIDAR system 100 may employ Continuous Wave (CW) detection, for example, Frequency Modulated Continuous Wave (FMCW), phase-shift continuous wave, and / or the like in which a continuous wave is transmitted phase and / or frequency shifts between the transmitted signal and a received signal reflected by one or more objects in the FOV 120 illuminated with the transmitted light is compared to determine distance and / or velocity of the objects.

[0078] The LIDAR system 100 may detect objects in the scanned FOV 120 and / or part thereof by processing detection results based on sensory data received from the sensor(s) indicative of the light signals reflected from one or more objects in the FOV 120 illuminated with the light emitted (projected) by the LIDAR system. For example, in a ToF based LIDAR system 100, such sensory data may include temporal information indicative of a period of time between the emission of a light signal (pulse) by the light source(s) of the LIDAR system 100 and the time of detection of a reflected light signal (pulse) by the sensor(s) associated with the LIDAR system 100. In another example, in a CW based LIDAR system 100, the sensory data may include information indicative of one or more differences between the transmitted light signal, specifically a reference light signal replicating the transmitted light signal, and the reflected light signal, for example, a frequency difference, a phase difference, and / or the like.

[0079] For various reasons, the LIDAR system 100 may detect only partially one or more objects which are present in the FOV 120, i.e., the LIDAR system may detect only one or more parts of the objects rather than the entire object. For example, light may be reflected from only some sides of an object, typically the side(s) opposing the LIDAR system 100 which may be therefore detected by the LIDAR system 100. In another example, light emitted by the LIDAR system 100, for example, a laser beam may be projected on only part of an object projected onto a road or a building. In another example, an object may be partly blocked and / or obscured by another object between the LIDAR system 100 and the detected object. In another example, ambient light and / or one or more other interferences (e.g., adversarial environmental conditions) may interfere with detection of one or more portions of an object.

[0080] Optionally, detecting an object by the LIDAR system 100 may further refer to identifying the object, for example, classifying a type of the object (e.g., car, person, tree, road, traffic light, etc.), recognizing a specific object (e.g., natural site, structure, monument, etc.), determining a text value of the object (e.g., license plate number, road sign markings, etc.),determining a composition of the object (e.g., solid, liquid, transparent, semitransparent, etc.), and / or the like.

[0081] As seen in FIG. 1, the LIDAR system 100 may comprise an illumination unit 102, a scanning unit 104, a sensing unit 106, and a processing unit 108. According to some embodiments, the LIDAR system 100 may be mountable on a vehicle 110.

[0082] Optionally, the LIDAR system 100 may be associated with one or more optical windows 124 through which outgoing light may be projected toward the FOV 120 and / or through which incoming light reflected from objects in field of view 120 may be received in the LIDAR system 100. The window 124 may include, for example, a window of the LIDAR system 100, a window of the vehicle 110 (e.g., windshield) behind which the LIDAR system 100 is installed, a cover of a lamp in which the LIDAR system 100 is installed, and / or the like. Optionally, the optical window(s) 124, for example, an opening, a flat window, a lens, or any other type of optical window may be used for one or more purposes, for example, collimating the projected light, focusing of the reflected light, and / or the like.

[0083] The LIDAR system 100 may be contained in a single housing and / or divided among a plurality of housings connected to each other via one or more communication channels, for example, a wired channel, fiber optics cable, and / or the like deployed between the first and second housings, a wireless connection (e.g., RF connection), fiber optics cable, and / or any combination thereof. For example, the light related components of the LIDAR system 100, i.e., the illumination unit 102, the scanning unit 104, and the sensing unit 106 may be deployed and / or contained in a first housing while the processing unit 108 may be deployed and / or contained in a second housing. In such case, the processing unit 108 may communicate with the illumination unit 102, the scanning unit 104, and / or the sensing unit 106 via the communication channel(s) connecting the separate housings for controlling of the scanning unit 104 and / or for receiving from the sensing unit 106 sensory information indicative of light reflected from the scanned scene.

[0084] The LIDAR system 100 may apply one or more scanning modes, technologies, and / or techniques for scanning the FOV 120. For example, the LIDAR system 100 may apply raster (flying spot) scanning in which one or more light beams, for example, laser beams, are projected to scan the FOV 120 in one or more scan patterns, for example, scan side to side lines, scan up-down columns, and / or the like, and / or a combination thereof. In such case, the FOV 120 may be segmented to a plurality of segments 122 each corresponding to an instantaneous FOV scanned at any given time by the raster LIDAR system 100. In another example, the LIDAR system 100 may apply scan-line scanning in which one or more lightbeams projected simultaneously by the LIDAR system 100 may form a beam array, and / or an elongated light beam, for example, a vertical line of light beams (e.g., lasers) which may be moved horizontally to scan the FOV 120 such that the instantaneous FOV scanned at any given time by the raster scan-line LIDAR system 100 may comprise a respective vertical portion of the FOV 120. In another example, the LIDAR system 100 may apply flash scanning in which one or more light beams (e.g., laser beams) may be projected by the LIDAR system 100 to simultaneously illuminate the entire FOV 120 such that the instantaneous FOV scanned at any given time by the raster scan-line LIDAR system 100 may comprise the entire FOV 120.

[0085] The LIDAR system 100 may employ one or more designs, architectures, and / or configurations, optionally depending on the scanning mode of the LIDAR system 100, for implementing optical paths, specifically an outbound optical path (transmission path TX) for transmitting light 204 emitted by the illumination unit 102 and directed toward the scene, i.e., toward the FOV 120, and an inbound optical path (reception path RX) for directing light 206 reflected from objects in the FOV 120 toward the sensing unit 106. For example, the LIDAR system 100 may employ bistatic architecture, sometimes referred to as biaxial architecture, in which the outbound light projected by the LIDAR system 100 (exiting) toward the scene and the inbound light reflected from the scene and entering the LIDAR system 100 (entering) pass through substantially different optical paths each comprising one or more distinct optical components, for example, a window, an aperture, a lens, a mirror, a beam splitter, and / or the like. In another example, as shown in FIG. 2, the LIDAR system 100 may employ monostatic architecture, sometimes referred to as coaxial architecture, in which the outbound light 204 and the inbound light 206 may pass thorough substantially common or similar (same) optical paths sharing some and potentially most optical components. This means that the outbound light 204, directed toward the FOV 120 via the transmission optical path (TX), and the inbound light 206, directed from the FOV 120 toward one or more sensors of the LIDAR system 100 via the reception path (RX), may pass through the common optical path and thus through shared optical component(s) deployed along the common optical path.

[0086] Optically, configuration, and / or implementation of the optical paths of the transmitted light 204 and the reflected light 206 may depend on a scanning mode of the LIDAR system 100.

[0087] The illumination unit 102 may include one or more light sources 112 configured to emit light in one or more light forms, formats, and / or modes, for example, laser light. The light source(s) 112 may include, for example, a laser diode, a solid-state laser, a high-power laser,an edge emitting laser, a Vertical-Cavity Surface-Emitting Laser (VCSEL), an External Cavity Diode Laser (ECDL), A distributed Bragg reflector (DBR) laser, a laser array, and / or the like.

[0088] The light source(s) 112 may be configured and / or operated, for example, by the processing unit 108, to emit light according to one or more light emission patterns defined by one or more light emission parameters, for example lighting technology (e.g., pulsed, CW, quasi-CW, etc.), scanning mode (e.g., spot scanning, line-scanning, flash scanning, etc.), light format (e.g., angular dispersion, polarization, etc.), spectral range (wavelength), energy / power (e.g., average power, maximum power, power intensity, instantaneous power, etc.), timing (e.g., pulse width (duration), pulse repetition rate, pulse sequence, pulse duty cycle, etc.), and / or the like.

[0089] Optionally, the illumination unit 102 may further comprise one or more optical elements associated with one or more of the light source(s) 112, for example, a lens, an aperture, a window, a light filter, a waveplate, a waveguide, a beam splitter, and / or the like for adjusting the light emitted by the light source(s) 112, or example, collimating, focusing, polarizing, and / or the like the emitted light beams.

[0090] Moreover, the illumination unit 102 may include one or more light sources 112 configured to emit a plurality of light beams, typically simultaneously, such that each of the light beams illuminates a respective portion, section, and / or segment of the instantaneous FOV, for example, a respective portion 122 scanned by the LIDAR system 100 at any given moment. For example, assuming the LIDAR system 100 employs sport scanning, the light source(s) 112 may be configured to emit eight light beams for simultaneously scanning eight respective portions 122 of the FOV 120.

[0091] The scanning unit 104 may be configured to scan the FOV 120 and / or part thereof by illuminating FOV 120 with light emitted by the light source(s) 112 and projecting the light 204 toward the scene thus serving as a steering element on the outbound path, i.e., the transmission path TX, of the LIDAR system 100 for directing the projected light 204 toward the scene, i.e., toward the FOV 120.

[0092] Optionally, the scanning unit 104 may be further used on the inbound path of the LIDAR system 100, i.e., the reception path RX, for directing the light (photons) 206 reflected from one or more objects in at least part of the FOV 120 toward the sensing unit 106. The scanning unit 104 may optionally include one or more optical elements, for example, a lens, a mirror, a prism, a waveguide, a telephoto, a beam splitter, and / or the like configured to direct the reflected light 206 toward the sensing unit 106.

[0093] The scanning unit 104 may include one or more optical paths for transmitting the light 204 toward the FOV 120 and for receiving the reflected light 206. These optical paths may be separate for the outbound light 205 and the inbound light 206, for example, in a bi-axial architecture, or at least partly common and shared by the outbound light 205 and the inbound light 206, for example, in a monostatic architecture.

[0094] Moreover, since the illumination unit 102 may be configured to emit a plurality of light beams, for example, a beam array, on the transmission path TX (outbound path) of the LIDAR system 100, the scanning unit 104 may be configured to project the plurality of light beams for illuminating the FOV 120 and / or part thereof. Complementary, on the reception path RX (inbound path) of the LIDAR system 100, i.e., the scanning unit 104 may be configured to direct toward the sensing unit 106 light 206 reflected from one or more objects in at least part of the FOV 120 illuminated by the plurality of light beams.

[0095] The scanning unit 104 may include one or more light deflectors 114 configured to deflect the light emitted by the light source(s) 112 for scanning the FOV 120. The light deflector(s) 114 may include one or more scanning mechanism, module, devices, and / or elements configured to cause the emitted light to deviate from its original path, for example, a mirror, a prism, a controllable lens, a mechanical mirror, a mechanical scanning polygon, an active diffraction (e.g., controllable LCD), a Risley prisms, a waveguide, a non-mechanical- electro-optical beam steering (such as made, for example, by Vescent), a polarization grating (such as offered, for example, by Boulder Non-Linear Systems), an Optical Phase Array (OP A), and / or the like.

[0096] For example, the deflector(s) 114 may comprise one or more mechanical light deflectors, for example, a scanning polygon, interchangeable designated polygon scanner, having a plurality of reflective facets, for example, three, four, five, six and / or the like configured as mirrors and / or prisms to deflect light projected onto the facet(s) of the polygon. In another example, the deflector(s) 114 may comprise one or more Micro Electro-Mechanical Systems (MEMS) mirrors configured to move by actuation of a plurality of benders connected to the mirror.

[0097] In another example, the scanning unit 104 may include one or more non-mechanical deflectors 114, for example, a non-mechanical-electro-optical beam steering element such as, for example, an OPA which does not require any moving components or internal movements for changing the deflection angles of the light. Rather, the projection angle of the light beam(s) emitted by the light source(s) 112 may be controlled by steering, for example, through phase array means, a light source array, and / or the like for projecting the light beam(s) to a desiredprojection angle. It is noted that any discussion relating to moving or pivoting the light deflector(s) 114 is applicable, mutatis mutandis, to any type of light deflector 114, for example, non-mechanical deflectors.

[0098] At any given time, i.e., at any instantaneous point in time, during each scan cycle of the FOV 120 and / or part thereof by the LIDAR system 100, the deflector(s) 114 may be positioned in a respective instantaneous position defining a respective location, position, and / or orientation in space. In particular, each instantaneous position of the deflector(s) 114 may correspond to a respective instantaneous FOV, for example, one or more respective portions 122 of the FOV 120. This means that while positioned in each of a plurality of instantaneous positions during each scan cycle of the FOV 120 and / or part thereof, the deflector(s) 114 may scan one or more respective portions 122 of the FOV 120, i.e., project light 204 toward the respective portion(s) 122 and / or direct light (photons) reflected from the respective portion(s) 122 toward the sensing unit 106.

[0099] The scanning unit 104 may be configured and / or operated to scan the FOV 120 and / or part thereof, on the outbound path and / or on the inbound path, at one or more scales of scanning. For example, the scanning unit 104 may be configured to scan the entire FOV 120. In another example the scanning unit 104 may be configured to scan one or more Regions of Interest (ROI) which cover only part of the FOV 120, for example, 10% or 25% of the FOV 120. Optionally, the scanning unit 104 may dynamically adjust the scanning scale, i.e., the scanned area, either between different scanning cycles and / or during the same scanning cycle.

[0100] Optionally, the scanning unit 104 may further comprise one or more optical elements associated with the deflector(s) 114, for example, a lens, an aperture, a window, a light filter, a waveplate, a waveguide, a beam splitter, and / or the like for adjusting the light emitted by the light source(s) 112 and / or for adjusting the light reflected from the scene, for example, collimate the projected light 204, focus the reflected light 206, filter the light, and / or the like.

[0101] Moreover, in one or more monostatic configurations, the LIDAR system 100 may comprise one or more asymmetrical deflectors configured to separate between the projected light 204 and the reflected light 206. For example, as seen in FIG. 2, an exemplary asymmetrical deflector 216 may be configured not to deflect the projected light 204 emitted by the illumination unit 102 and deflect reflected light 206 toward the sensing unit 106. Optionally, the asymmetrical deflector 216 may be configured to prevent reflected light 206 from hitting the illumination unit 102, and to direct all the reflected light 206 toward the sensing unit 106, thereby increasing detection sensitivity. The asymmetrical deflector 216 may comprise one or more optical elements having two sides capable of deflecting a beam of lighthitting it from one side in a different direction than it deflects a beam of light hitting it from the second side. The asymmetrical deflector 216 may include, for example, a polarization beam splitter. In another example, the asymmetrical deflector 216 may include an optical isolator configured to allow passage of light in only one direction.

[0102] The sensing unit 106 may include one or more sensors 116 (interchangeably designated light sensors) configured to receive and sample light received from the surroundings of LIDAR system 100, specifically from the scene, i.e., the FOV 120, and generate reflection signals, interchangeably designated trace signals or trace data, indicative of light captured by the sensor(s) 116 which may include light reflected from one or more objects in the FOV 120. The sensor(s) 116 may include one or more devices, elements, and / or systems capable of measuring properties of electromagnetic waves, specifically light, for example, energy / power, intensity, frequency, phase, timing, duration, and / or the like and generate output signals indicative of the measured properties. The sensor(s) 116 may be configured and / or operated to sample incoming light according to one or more operation modes, for example, continuous sampling, periodic sampling, sampling according to one or more timing schemes, and / or sampling instructions.

[0103] The sensing unit 106 may include a sensor array comprising a plurality of sensors 116 wherein each set of one or more of the sensors 116 may correspond to a respective pixel mapping one or more portions 122 of the FOV 120 scanned at any given moment. For example, assuming the illumination unit 102 is configured to project a plurality of light beams, each set of one or more of the plurality of sensors 116 of the sensor array may be associated with a respective one of the plurality of light beams, i.e., each sensor 116 may be configured to receive light reflected from one or more objects in the FOV 120 illuminated by its respective associated light beam. In another example, assuming the illumination unit 102 is configured to project a single elongated light beam (scan-line), the light reflected by one or more objects in the FOV 120 responsive to being illuminated by the elongated light beam may be divided to a plurality of portions each directed (transmitted) to a respective one of the plurality of sensors 116.

[0104] These pixels, relating to the light sensors 116 and thus interchangeably designated sensing pixels, may typically correspond to non-overlapping regions in the FOV 120. The sensing pixels should not be confused with the FOV pixels. For example, each FOV pixel, which may correspond to a respective portion 122, i.e., an instantaneous FOV scanned during a certain instantaneous point in time, may be mapped to one or more sensing pixels activated during the certain instantaneous point in time. However, typically, each FOV pixel (e.g., each portion 122), may be mapped to a respective sensing pixel activated during the certain instantaneous point in time during which the respective portion 122 is scanned.

[0105] Each sensor 116 may include one or more light detectors of one or more types having differing parameters, for example, sensitivity, size, recovery time, and / or the like. The sensor(s) 116 may include a plurality of light detectors of a single type, or of multiple types selected according to their characteristics to comply with one or more detection requirements of the LIDAR system 100, for example, reliable and / or accurate detection over a span of ranges (e.g., maximum range, close range, etc.), dynamic range, temporal response, robustness against varying environmental conditions (e.g., temperature, rain, illumination, etc.), and / or the like.

[0106] For example, as seen in FIG. 2, each sensor 116 comprising, for example, a Silicon Photomultipliers (SiPM), a non-silicon photomultipliers, and / or the like, may include one or more light detectors constructed from a plurality of detecting elements 220, for example, an Avalanche Photodiode (APD), Single Photon Avalanche Diode (SPAD), and / or the like. The plurality of detecting elements 220, each configured to cause an electric current to flow when light (photons) passes through an outer surface of the respective detecting element 220, may be disposed on a common silicon substrate for detecting photons reflected back from the FOV 120. The detecting elements 220 of each sensor 116 may be typically arranged as an array in one or more arrangements over a detection area of the sensor 116, for example, a rectangular arrangement, for example, as shown in FIG. 2, a square arrangement, an alternating rows arrangement, and / or the like. Optionally, the detecting elements 220 may be arranged in a plurality of regions which jointly cover the detection area of the sensor 116. Each of the plurality of regions may comprise a plurality of detecting elements 220, for example, SPADs having their output connected together to form a common output signal of the respective region.

[0107] The processing unit 108 may include one or more processors 118, homogenous or heterogeneous, comprising one or more processing nodes and / or cores optionally arranged for parallel processing, as clusters and / or as one or more multi core processor(s). The processor(s) 118 may execute one or more software modules such as, for example, a process, a script, an application, a (device) driver, an agent, a utility, a tool, an Operating System (OS), a plug-in, an add-on, and / or the like each comprising a plurality of program instructions stored in a non- transitory medium (program store) of the LIDAR system 100 and executed by one or more processors such as the processor(s) 118. The non-transitory medium may include, for example, persistent memory (e.g., ROM, Flash, SSD, NVRAM, etc.) volatile memory (e.g., RAM component, cache, etc.) and / or the like such as the storage 234 and executed by one or more processors such as the processor(s) 232. The processor(s) 118 may optionally integrate, utilize and / or facilitate one or more hardware elements (modules), for example, a circuit, a component, an Integrated Circuit (IC), an Application Specific Integrated Circuit (ASIC), a FieldProgrammable Gate Array (FPGA), a Digital Signals Processor (DSP), a Graphic Processing Unit (GPU), an Artificial Intelligence (Al) accelerator and / or the like.

[0108] The processor(s) 118 may therefore execute one or more functional modules implemented using one or more software modules, one or more of the hardware modules and / or combination thereof. For example, the processor(s) 118 may execute one or more functional modules to control functionality of the LIDAR system 100, for example, configuration, operation, coordination, and / or the like of one or more of the functional elements of the LIDAR system 100, for example, the illumination unit 102, the scanning unit 104, and / or the sensing unit 106. The processor 118 may communicate with the functional elements of the LIDAR system 100 via one or more channels, interconnects, and / or networks deployed in the LIDAR system 100, for example, a bus (e.g., PCIe, etc.), a switch fabric, a network, a vehicle network, and / or the like. While the processor(s) 118 may comprise multiple processors, and / or processing devices, for brevity and clarity, the processor(s) 118 are designated in the singular form hereinafter, i.e., the processor 118.

[0109] The processor 118 may control, for example, the scanning unit 104 to scan the environment of the LIDAR system 100 according to one or more scanning schemes and / or scanning parameters, for example, extent (e.g., angular extent) of the FOV 120, extent of one or more ROIs within the FOV 120, maximal range within the FOV 120, maximal range within each ROI, maximal range within each region of non-interest, resolution (e.g., vertical angular resolution, horizontal angular resolution, etc.) within the FOV 120, resolution within each ROI, resolution within each region of non-interest, scanning mode (e.g., raster, alternating pixels, etc.), scanning speed, scanning cycle timing (e.g., cycle time, frame rate), and / or the like.

[0110] In another example, the processor 118 may be configured to coordinate operation of the light source(s) 112 with movement and / or operation of the deflector(s) 114 for scanning the FOV 120 and / or part thereof. In another example, the processor 118 may be configured to configure and / or operate the light source(s) 112 to project light according to one or more light emission patterns. In another example, the processor 118 may be configured to coordinate operation of the sensor(s) 116 with movement and / or operation of the deflector(s) 114 to activate one or more selected sensor(s) 116 and / or pixels according to the scanned portion of the FOV 120.[oni] In another example, the processor 118 may be configured to receive the reflection signals (trace data) generated by the sensor(s) 116 which are indicative of light captured by the sensor(s) 116 including light reflected from the scene, specifically light reflected from one or more objects in the scanned FOV 120 and / or part thereof. In another example, the processor118 may be configured to analyze the trace signals received from the sensor(s) 116 in order to detect one or more objects, conditions, and / or the like in the environment of the LIDAR system 100, specifically in the scanned FOV 120 and / or part thereof. Analyzing the trace data indicative of the reflected light 206 may include, for example, determining a ToF of the reflected light 206, based on timing of outputs of reflection signals, specifically with respect to transmission timing of projected light 204, for example, light pulses, corresponding to the respective reflected light 206. In another example, analyzing the trace data may include determining a power of the reflected light, for example, average power across an entire return pulse, and a photon distribution / signal may be determined over the return pulse period (“pulse shape”).

[0112] The processor 118 may be further configured to analyze the trace data, i.e., the reflection signals received from the sensor(s) 116 which are indicative of light received from the scene, i.e., the FOV 120 and / or part thereof including at least part of the light emitted by the LIDAR system 100 and reflected from one or more objects in the FOV 120. Based on analysis of the trace data indicative of the light reflected from the object(s) in the scene, i.e., the processor 118 may extract depth data relating to the scene and may derive and / or determine one or more attributes of the detected object(s). Such object attributes may include, for example, a distance between the LIDAR system 100 and the detected object, a reflectivity of the detected object, a spatial location of the detected object, for example, with respect to one or more coordinate systems (e.g., Cartesian (X, Y, Z), Polar (r, 9, (|)), etc.), a velocity of the detected object, and / or the like. Based on the trace data coupled with the scanning scheme of the scanning unit 104, i.e., the instantaneous positioning, orientation, and / or activation of the deflector 114, the processor 118 may determine the portion 122 of the FOV 120 to which the trace data relates and may map the objects detected in the scene scanned by the LIDAR system 100.

[0113] The processor 118 may further combine, join, merge, fuse, and / or otherwise aggregate information, for example, depth data pertaining to different objects, and / or different features of objects detected in the scene. For example, the processor 118 may be configured to generate and / or reconstruct one or more 3D models, interchangeably designated depth maps herein, of the environment of the LIDAR system 100, i.e., of objects scanned in the scene included in the FOV 120 and / or part thereof. The data resolution associated with the depth map representation(s) of the FOV 120 which may depend on the operational parameters of the LIDAR system 100 may be defined by horizontal and / or vertical resolution, for example, 0.05° x 0.05°, 0.05° x 0.1°, 0.1° x 0.1°, 0.3° x 0.3°, 0.1° x 0.5° of the FOV 120, and / or the like.

[0114] The processor 118 may generate depth map(s) in one or more forms, formats, and / or types, for example, a point cloud model, a polygon mesh, a depth image holding depth information for each pixel of a 2D image and / or array, and / or any other type of 3D model of the scene. A point cloud model (also known a point cloud) may include a set of data points located spatially which represent the scanned scene in some coordinate system, i.e., having an identifiable locations in a space described by a coordinate system, for example, Cartesian, Polar, and / or the like. Each point in the point cloud may be a dimensionless, or a miniature cellular space whose location may be described by the point cloud model using the set of coordinates.

[0115] The point cloud may further include additional information for one or more and optionally all of its points, for example, reflectivity (e.g., energy of reflected light, etc.), color information, angle information, and / or the like. A polygon mesh or triangle mesh may include, among other data, a set of vertices, edges and faces that define the shape of one or more 3D objects (polyhedral object) detected in the scanned scene. The processor 118 may further generate a sequence of depth maps over time, i.e., a temporal sequence of depth maps, for example, each depth map in the sequence may be associated with a respective scanning cycle (frame). In another example, the processor 118 may update one or more depth maps over time based on depth data received and analyzed in each frame.

[0116] Optionally, the processor 118 may control the light projection scheme of the light emitted to the environment of the LIDAR system 100, for example, adapt, and / or adjust the light emission pattern and / or the scanning pattern, to improve mapping of the environment of the LIDAR system 100. For example, the processor 118 may control the light projection scheme to illuminate different portions 122 across the FOV 120 according to different illumination parameters in order to differentiate between light reflected from the different portions 122. In another example, the processor 118 may apply a first light projection scheme for one or more first areas in the FOV 120, for example, a ROI and a second light projection scheme for one or more other parts of the FOV 120. In another example, the processor 118 may adjust the light projection scheme between scanning cycles (frames) such that a different light projection scheme may be applied in different frames. In another example, the processor 118 may adjust the light projection scheme based on detection of reflected light, either during the same scanning cycle (e.g., the initial emission) and / or between different frames (e.g., successive frames), thus making the LIDAR system 100 extremely dynamic.

[0117] Optionally, the LIDAR system 100 may include a communication interface 214 comprising one or more wired and / or wireless communication channels and / or network links,for example, PCIe, Local Area Network (LAN), Gigabit Multimedia Serial Link (GMSL), vehicle network, InfiniBand, wireless LAN (WLAN), cellular network, and / or the like. Via the communication interface 214, the LIDAR system 100, specifically the processor 118 may transfer data and / or communicate with one or more external systems, for example, a host system 210, interchangeable designated host herein.

[0118] The host 210, which may include any computing environment comprising one or more processors 218 such as the processor 118 which may communicate, interface, and / or otherwise interact with the LIDAR system 100. For example, the host 210 may include one or more systems deployed and / or located in the vehicle 110 such as, for example, an ADAS, a vehicle control system, a vehicle safety system, a client device (e.g., laptop, smartphone, etc.), and / or the like. In another example, the host 210 may include one or more remote systems, for example, a security system, a surveillance system, a traffic control system, an urban modelling system, and / or other systems configured to monitor their surroundings. In another example, the host 210 may include one or more remote cloud systems, services, and / or platforms configured to collect data from vehicles 110 for one or more monitoring, analysis, and / or control applications. In another example, the host 210 may include one or more external systems, for example, a testing system, a monitoring system, a calibration system, and / or the like.

[0119] The host 210 may be configured to interact and communicate with the LIDAR system 100 for one or more purposes, operations, and / or actions, for example, configure the LIDAR system 100, control operation of the LIDAR system 100, analyze data received from the LIDAR system 100, and / or the like. For example, the host 210 may generate one or more depth maps and / or 3D models based on trace data, and / or depth data received from the LIDAR system 100. In another example, the host 210 may configure one or more operation modes, and / or parameters of the LIDAR system 100, for example, define an RO I, define an illumination pattern, define a scanning pattern, and / or the like. In another example, the host 210 may dynamically adjust in real-time one or more operation modes and / or parameters of the LIDAR system 100.

[0120] Optionally, one or more processing tasks may be distributed between the host 210 and the processor 118 of the LIDAR system 100. For example, generation of one or more depth maps, for example, a point cloud representing the environment of the LIDAR system 100 and / or part thereof, may be distributed between the host 210, specifically the processor(s) 218 and the processor 118, such that the point cloud may be generated jointly by the processor 118 and the processor(s) 218, each executing part of the point cloud generation task.

[0121] According to some embodiments disclosed herein, a LIDAR system such as the LIDAR system 100 may be configured to dynamically adjust, during each of one or more scans of the FOV 120 and / or part thereof, one or more projection parameters of the projected light 204 according in order to compensate for losses in the projected light 204, and / or optionally losses in the reflected light 206, due to configuration, deployment and / or conditions of the LIDAR system 100.

[0122] For example, the LIDAR system 100 may be configured to dynamically adjust one or more of the projection parameters of the projected light 204 to compensate for losses in the projected light 204 resulting from reflection, deflection, absorption, scattering, diffusion, clipping, and / or blocking of the light 204 induced by interaction of the projected light 204 with one or more windows such as the window 124 through which the light 204 is projected for scanning the FOV 120 and / or part thereof. For brevity, all effects of reflection, scattering, and / or diffusion resulting from interaction of light with the window(s) 124 are collectively designated reflection or reflections herein.

[0123] Such windows associated with the LIDAR system 100 through which the projected light 206, and optionally the reflected light 206 may pass may include, for example, a window of the LIDAR system 100, a window of the vehicle 110 (e.g., windshield) behind which the LIDAR system 100 is installed, a cover of a lamp in which the LIDAR system 100 is installed, and / or the like. In such embodiment, the projection parameters of the projected light 204 may be adjusted according to one or more interaction parameters and / or attributes of the light 204 with the window(s), for example, an angle of incidence of the light 204 on the window(s), partial blocking and / or clipping of the light 204 by the window(s), a refraction index of the window(s) material, and / or the like.

[0124] In another example, the LIDAR system 100 may be configured to dynamically adjust one or more of the projection parameters of the projected light 204 to compensate for losses in the projected light 204 resulting partial clipping of the light 204 by one or more optical elements of the LIDAR system 100, for example, a deflector such as the deflector 114, a lens, a prism, and / or the like deployed along the optical path of the projected light 204 and optionally along the optical path of the reflected light 2096.

[0125] Reference is now made to FIG. 3, which is a flow chart of an exemplary process of adjusting projection parameters of light beams projected to scan an FOV of a LIDAR system according to an angle of incidence of the light beams on one or more windows associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0126] An exemplary process 300 may be executed, for example, by one or more processors such as the processor 118 of one or more LIDAR systems such as the LIDAR system 100, designated LIDAR processor herein after, for dynamically adjusting one or more projection parameters of light such as the light 204 projected by the LIDAR system 100 for scanning an FOV such as the FOV 120 and / or part thereof. In particular, the projection parameter(s) of the projected light 204 may be dynamically adjusted to compensate for losses in the projected light 204 due to its interaction with one or more windows such as the window 124 through which the projected light 204 passes toward the FOV 120.

[0127] The process 300 is an iterative process which may be repeated for each scan period (cycle) during which the LIDAR system 100 scans the FOV 120 or a part thereof. During each scan period, for example, a horizontal scan period during which one or more horizontal lines of the FOV 120 are scanned, a respective iteration of the process 300 may be executed for each light beam projected at a respective angle toward the FOV 120.

[0128] Reference is also made to FIG. 4, which depicts schematic illustrations of exemplary LIDAR systems configured to project light for scanning their FOV via a window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0129] An exemplary LIDAR system 400 such as the LIDAR system 100 may include one or more light sources 412 such as the light source 112 configured to emit one or more light beams 404A, for example, laser beams for scanning an FOV 420 such as the FOV 120 and / or part thereof. The LIDAR system 400 may be associated with one or more windows 424 located in the optical path of the light beams projected to scan the FOV 420 and typically also in the optical path of the light reflected from the FOV 420. The window(s) 424 may include, for example, a window of the LIDAR system itself, a windshield of a vehicle such as the vehicle 110 in case the LIDAR system 400 is installed behind the windshield, a lamp cover (made of glass, polymer, etc.) in case the LIDAR system is installed inside a lamp housing of the vehicle 110, and / or the like.

[0130] The projected light as well as the reflected light passing through the window(s) may be affected by the window(s) 424 and their window parameters, for example, curvature, a thickness, a material, a refraction index, and / or the like.

[0131] The LIDAR system 400 may employ one or more scanning mechanisms, architectures, and / or technologies which may affect the mechanisms, methods, and / or algorithms for projecting light 404 such as the light 204 for scanning the FOV 420 and / or for receiving light such as the light 206 reflected from the FOV 420. In particular, a plurality of light beam(s) 404 may be projected in a plurality of angles for scanning the angular extent (range) defined for theFOV 420, for example, the horizontal (azimuth) angular extent of the FOV 120 (e.g., 120°, 90°, etc.), the vertical (elevation) angular extent of the FOV 120 (e.g., 30°, 40°, etc.), and / or the like.

[0132] For example, a first exemplary LIDAR system 400 A may include one or more light sources 412A configured to emit one or more light beams 404A, for example, laser beams for scanning an FOV 420A and / or part thereof. The LIDAR system 400A may employ raster scanning (flying spot) or line scan and may thus further include one or more deflectors 414 such as the deflector 114 configured to deflect one or more light beams 404 A emitted by the light source(s) 412A toward the FOV 420 A.

[0133] As seen, in order to scan the angular extent of the FOV 420A and / or part thereof, the deflector 414 may deflect the light beam(s) 404A at a plurality (n) of angles each associated with a respective portion of a plurality of portions of the FOV 420 A, for example, portions such as the portions 122 constituting the FOV 420 A.

[0134] As seen in FIG. 4 illustrating a top view schematic layout of the exemplary LIDAR system 400A, the deflector 414 may be configured to rotate in a single axis, for example, in an axis parallel to the horizontal plane of the LIDAR system 400A for scanning the horizontal angular extent of the FOV 420 A. In another example, the deflector 414 may be configured to rotate in a two axes, for example, in the axis parallel to the horizontal plane of the LIDAR system 400A, and in an axis perpendicular to the horizontal plane of the LIDAR system 400A for scanning the vertical angular extent of the FOV 420 A.

[0135] It should be noted that while FIG. 4 illustrates only a single axis scanning of the FOV 402 A, the same operation modes and concepts may apply to multi-axes scanning of the FOV 420A using, for example, a multi-axes deflector 414, multiple single axis deflectors, a combination thereof, and / or the like.

[0136] The light beam(s) 404 A deflected by the deflector 414 may pass through one or more windows 424A associated with the LIDAR system 400A. As described herein before, the window 424A may include, for example, a window of the LIDAR system 400A. In another example, the window 424 A may be a window of a vehicle such as the vehicle 110 in which the LIDAR system 400A is installed. For example, in case the LIDAR system 400A is installed inside the vehicle 110, for example, behind the front windshield, the window 424 A may include the windshield. In another example, assuming the LIDAR system 400 A is installed inside a head lamp of the vehicle 110, the window 424A may include a cover (e.g., glass, polymer, etc.) of the head lamp.

[0137] Since the light beam(s) 404A are deflected (projected) by the deflector 414 toward the FOV 420 in (n) different angles, the projected light beam(s) 404A may have a plurality of different incidence angles on the window 424A, in particular with respect to a normal to the window 424A. For example, a leftmost light beam 404A1 may have an incidence angle OIAI on the window 424A, a center light beam 404Ak may have an incidence angle otAk with respect to the normal to the window 424A, and a rightmost light beam 404An may have an incidence angle otAn on the window 424A.

[0138] Another exemplary LIDAR system 400B may include an array of light sources 412B comprising a plurality of light sources 412B positioned, configured, and / or operated to emit one or more light beams 404B, for example, laser beams for scanning an FOV 420B and / or part thereof.

[0139] In particular, each of the light sources 412B may be positioned, configured, and / or operated to emit light for scanning respective one or more portions of the FOV 420B, for example, portions such as the portions 122 constituting the FOV 420B. As such, each of the light sources 412B may be configured to emit (project) one or more respective light beams 404B at a respective one of a plurality (n) of angles each pointing toward the one or more respective portions associated with the respective light source 412B.

[0140] The LIDAR system 400 A may utilize flash scanning in which all light sources 412 are configured and / or operated to simultaneously illuminate the entire FOV 420B. Additionally, or alternatively, only a subset of the light sources 412 (e.g., one, two, etc.) may be activated at any given time to illuminate its respective associated portion(s) of the FOV 420B.

[0141] As described with respect to the LIDAR system 400A, the light beam(s) 404 A proj ected by the light sources 412B may pass through one or more windows 424B such as the window 424 A associated with the LIDAR system 400B. Since the light beam(s) 404B are projected by the light sources 412B toward the FOV 420 in (n) different angles, the projected light beam(s) 404A may have a plurality of different incidence angles on the window 424B, in particular with respect to a normal to the window 424B. For example, a leftmost light beam 404B1 may have an incidence angle am on the window 424B, a center light beam 404Bk may have an incidence angle a.Bk on the window 424B, and a rightmost light beam 404Bn may have an incidence angle a.Bn on the window 424B.

[0142] As shown at 302, the LIDAR processor may be configured to operate one or more light sources 412 of the LIDAR system 400 to emit one or more light beams for scanning the FOV 420 and / or part thereof.

[0143] The light beam(s) emitted by the light source(s) 412 may be directed toward the FOV 420 in a plurality of different angles each associated with a respective one of a plurality of portions of the FOV 420, for example, a respective portion of a plurality of portions such as the portions 122 constituting the FOV 420.

[0144] Optionally, as shown at 304, in case of the LIDAR system 400A comprising the mechanical deflector 414, the LIDAR processor may operate the deflector(s) 414 to deflect the light beam(s) 404A emitted by the light source(s) 412A for scanning the FOV 420A and / or part thereof.

[0145] In particular at any given time, i.e., at any instantaneous point in time, during each scan period of the FOV 420a and / or part thereof, the LIDAR processor may operate the deflector(s) 414 to be positioned in a respective instantaneous position defining a respective location, position and / or orientation of the deflector(s) 414 in space. A scan period may typically relate to the time it takes the deflector(s) 414 to complete a scan of the FOV 420A and / or part thereof. For example, assuming the deflector(s) 414 is operated to scan the entire horizontal angular extent of the FOV 420A (e.g., 120°), the time period may express the time allocated to the deflector(s) 414 to complete a full horizontal scan of the FOV 420. In another example, assuming the deflector(s) 414 is operated to scan a certain portion of the horizontal angular extent of the FOV 420A, for example, the horizontal angular extent of an ROI (e.g., 40°), the time period is the time it takes the deflector(s) 414 to scan the horizontal angular extent of the ROI.

[0146] As described herein before, each such instantaneous positioning of the deflector(s) 414 may correspond to a respective one of the plurality of angles of the projected light beams 404 A and thus each instantaneous positioning of the deflector(s) 414 may correspond to a respective instantaneous FOV, for example, one or more respective portions 122 of the FOV 120.

[0147] As shown at 306, the LIDAR processor may determine a projection angle of incidence of the light beams 404 on the window(s) 424. Since the light beam(s) 404 are projected to scan the FOV 420 via the window(s) 424, each window portion (window surface section) of the window(s) 424 corresponds to one or more respective portions of the FOV 420. The LIDAR processor may therefore first determine the projection angle of each of one or more light beam 404 projected during the current point in time in which the light beam(s) 404 is projected for scanning a certain one or more portions of the FOV 420. Based on the projection angle of each light beam 404, the LIDAR processor may then determine the window portion on which the respective light beam 404 is incident and derive the angle of incidence of each currently projected light beam 404 on the window(s) 424 according to the determined window portionupon which the respective light beam 404 is incident. This means that during each instantaneous time point, the LIDAR processor may determine the respective projection angle of each of one or more currently projected light beams 404 and derive the respective angle of incidence of each currently projected light beam 404 from its respective projection angle.

[0148] The LIDAR processor may apply one or more methods, techniques, and / or algorithms for determining the projection angle of the light beams 404.

[0149] For example, assuming the LIDAR system 100 is a scanning LIDAR such as the LIDAR system 400A comprising one or more mechanical deflectors 414, the LIDAR processor may determine the projection angle of each currently projected light beam 404 A according to the instantaneous positioning of the defl ector(s) 414 with respect to the FOV 420. For example, the LIDAR processor may identify, compute, derive, and / or otherwise determine the instantaneous positioning of the deflector(s) 414 based on analysis of sensory data received from one or more sensors deployed and configured to measure the instantaneous positioning of the deflector(s) 414, for example, a gyroscope, an accelerometer, a magnetometer, a tilt sensor, and / or the like. In another example, the LIDAR processor may identify, compute, derive, and / or otherwise determine the instantaneous position of the deflector(s) 414 based on analysis of drive data indicative of the drive signal applied to the deflector(s) 414 by one or more motors, actuators, and / or the like. Such drive signal data may be translated, as known in the art, to the instantaneous positioning of the deflector(s) 414.

[0150] In another example, the LIDAR processor may determine the projection angle of each currently projected light beam 404 A based on a combination of the positioning of the light source(s) 412A emitting the currently projected light beam(s) 404 A and the instantaneous positioning of the deflector(s) 414, specifically a mechanical deflector(s) 414 with respect to the FOV 420.

[0151] In another example, for example, in LIDAR system 400B, the LIDAR processor may determine the projection angle of each currently projected light beam 404B based on based on positioning, i.e., position, location, and / or orientation of the light source(s) 412B emitting the currently projected light beam(s) 414B. For example, the positioning information indicative of positioning of each light source 412B may be available to the LIDAR processor, specifically the positioning of the emitting port and / or gate of each light source 412 with respect to the FOV 120. Such positioning information may be stored in one or more storage resources accessible to the LIDAR processor, for example, a memory device of the LIDAR system 400.

[0152] As shown at 308, the LIDAR processor may dynamically adjust and / or set one or more projection parameters of one or more of the light beams 404 according to its projection angleand its angle of incidence on the one or more windows 424 through which the light beams 404 pass on their way to the FOV 420 in order to compensate for loss of energy of the light beam(s) 404 due to reflections off (from) the window(s) 424.

[0153] The angle of incidence of each light beam 404 on the window(s) 124 may be derived and / or defined by its angle of projection with respect to the FOV 420 and thus with respect to the window(s) 424 located downstream from the LIDAR system 400 toward the FOV 420.

[0154] During the scan period (e.g., scan cycle, horizontal line scan, vertical line scan, etc.) the light beam(s) 404 is projected to scan the FOV 420 and / or part thereof, and the angle of projection of the light beam(s) 404 therefore changes for scanning respective portions of the FOV 420. As such, the angle of incidence of the light beam(s) 404 on the window(s) 424 may change accordingly. As known in the art, the different angles of incidence of the projected light beam(s) 404 on the window(s) 424 may induce different reflections of the proj ected light beams 404 from the window(s) 424 which may induce a different energy loss.

[0155] The LIDAR processor may therefore adjust one or more projection parameters of one or more of the light beams 404 projected during scan cycle to compensate for the energy loss. In particular, the LIDAR processor may adjust the projection parameter(s) of the respective light beam 404 to compensate for the energy loss relating to the respective light beam 404 which, as stated before, depends on the angle of incidence of the respective light beam 404.

[0156] Since the angle of incidence of each light beam 404 may be derived from the projection angle of the respective light beam 404, the LIDAR processor may adjust the projection parameters of a respective light beam 404 according to the projection angle of the respective light beam 404 which defines its angle of incidence on the window(s) 424.

[0157] The LIDAR processor may therefore dynamically adjust the projection parameter(s) of one or more of the light beams 404 according to their angle of incidence on the window(s) 424 (derived from their projection angle) to compensate for the specific loss of energy of the respective light beam 204 due to the reflections off the window(s) 424 resulting from the respective angle of incidence of the respective light beam 404. In other words, in each instantaneous scan time of the scan period during which one or more respective light beams 404 are currently projected to scan the FOV 420 and / or part thereof, the LIDAR processor may adjust the projection parameter(s) of the currently projected light beam(s) 404 according to its angle of incidence on the window(s) 424 to compensate for the specific loss of energy in the currently projected light beam(s) 404 which due to the reflections off the window(s) 424 induced by the respective angle of incidence of the currently projected light beam(s) 404 on the window(s) 424 in the respective instantaneous scan time.

[0158] Reference is now made to FIG. 5, which is a schematic illustration of a distribution of an exemplary an extended cross-section light beam, projected by a LIDAR system for scanning an FOV of the LIDAR system, on window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0159] As seen in illustration 550, a first exemplary light beam 504A such as the light beam 404, emitted by a light source 512 such as the light source 412 projected by a LIDAR system such as the LIDAR system 404 for scanning an FOV 520 such as the FOV 420 and / or part thereof, may hit a window 524 such as the window 424 at an angle of incidence ai, for example, 0°, i.e., a straight angle (90°) with respect to the surface of the window 624. As seen, the light beam 504A may pass through the window 524 such that a corresponding light beam 504A’ is projected (directed) toward the FOV 520. Since its angle of incidence ai is a straight angle, there may be negligible and potentially no reflections of the light beam 504A from the surface of the window 524, and the light beam 524A may therefore loose negligible energy meaning the energy of the light beam 504A’ significantly equals the energy of the light beam 504A.

[0160] In another example, as seen in illustration 552, another exemplary light beam 504B such as the light beam 504A emitted by the light source 512 may arrive at the window 524 at an angle of incidence 012 with respect to the normal 510B to the surface of the window 524, typically an angle larger than 0°. As seen, at least some of the light beam 504B may be reflected (i.e., reflected, scattered, diffused, etc.) according to the angle of incidence 012 of the light beam 504B on the window 524. For example, a first portion 504B’ of the light beam 504B may pass through the window 524 toward the FOV 520 while a second portion 504B” of the light beam 504B may be reflected off the window 524 and thus not projected toward the FOV 520. This means that only part of the energy of the light beam 504B specifically, the energy of the light beam 504B’ may be projected toward the FOV 520.

[0161] In another example, as seen in illustration 554, yet another exemplary light beam 504C such as the light beam 504A emitted by the light source 512 may fall on the window 524 at an angle of incidence a.3 with respect to the normal 510C to the surface of the window 524, for example, an angle larger than the angle 012. As described for the light beam 504B, at least some of the light beam 504C may be reflected according to the angle of incidence a.3 of the light beam 504C on the window 524. For example, a first portion 504C’ of the light beam 504C may pass through the window 524 toward the FOV 520 while a second portion 504C” of the light beam 504C may be reflected off the window 524 and thus not projected toward the FOV 520. This means that only part of the energy of the light beam 504C specifically, the energy of the light beam 504C’ may be projected toward the FOV 520.

[0162] Moreover, since the angle of incidence as of the light beam 604C is larger than the angle of incidence a2 of the light beam 504B, energy of the reflected portion 504C’ ’ of the light beam 504C may be larger than the energy of the reflected portion 504B” of the light beam 504B, meaning that the energy level of the light beam 504C’ projected toward the FOV 520 is smaller than energy level of the light beam 504B’.

[0163] One or more processors such as the processor 118, i.e., the LIDAR processor, may therefore adjust one or more projection parameters of one or more of the projected light beams, for example, light beams 504A, 504B, and 504C to compensate for the energy losses according to their respective projections angle which define their respective angles of incidence ai, a2, and as, on the window(s) 124 since these angles of incidence define the level of reflections and thus the level of energy loss.

[0164] The LIDAR processor may apply one or more methods, techniques and / or algorithms for selecting and / or determining the projection parameters for each projected light beam 404 according to its angle of incidence upon the window(s) 424 which may be derived from the projection angle of the respective projected light beam 404.

[0165] For example, the angle of incidence of each projected light beam 204 may be empirically and / or theoretically measured, computed, and / or otherwise determined offline and / or in advance according to the projection angle of the respective light beam 204 and the curvature of the window portion (section) of the window(s) 424 on which the respective light beam 204 is incident. The reflections and energy loss of each light beam 404 may computed according to angle of incidence of the respective light beam 404 on the window(s) 424 and one or more projection parameters may be selected and / or determined to compensate for the energy loss of the respective light beam 404. One or more records, for example, a list, a table, a file, a database, and / or the like may be generated, and / or updated to list each of the plurality of projections angles of the light beams 404 in association with the corresponding projection parameters selected for the respective projection angle. The record(s) associating the projections angles of the light beams 404 with projection parameters (values) may be stored in one or more storage resources accessible to the LIDAR processor, for example, a memory device of the LIDAR system 400 such that the LIDAR processor may access the record(s) to fetch (values of) the projection parameters for each light beam 404 according to its projection angle and adjust these projection parameters accordingly.

[0166] In another example, the LIDAR processor may compute, calculate, and / or otherwise determine the angle of incidence of each projected light beam 404 in real-time based on the projection angle of the respective light beam 404 and the curvature of the window portion(section) of the window(s) 424 upon which the respective light beam 204 is incident. The LIDAR processor may further compute, estimate, and / or otherwise determine the energy loss induced by interaction of the respective light beam 404 with the window(s) 424 and may compute and / or select values for one or more projection parameters of the respective light beam 404 according to the determined energy loss. The LIDAR processor may then adjust accordingly the projection parameter(s) for the respective light beam 404.

[0167] The LIDAR processor may apply one or more methods, algorithms, and / or techniques as known in the art for determining the energy loss induced by the interaction of each light beam 404 with the window(s) 424 based on the angle of incidence of the respective light beam 404 upon the window(s) 424. For example, using formulations known in the art, the LIDAR processor may determine, based on the angle of incidence of each light beam 404, the portion (fraction) of the respective light beam 404 that is reflected from the window(s) 424 and the portion (fraction) of the respective light beam 404 that is transferred through the window(s) 424 and transmitted toward the FOV 420. Based on the reflected and transmitted portions of each light beam 404, the LIDAR processor may determine the energy losses for each light beam 404. In another example, using methods and algorithms known in the art, the LIDAR processor may determine, based on the angle of incidence of each light beam 404 optionally combined with a material type of the window(s) 424, a surface texture of the window portion upon which the respective light beam 404 is incident, a refractive index of the window(s) and / or the like, the portion of the respective light beam 404 that is deflected, scattered, absorbed and / or the like by the window(s) 424 and the portion of the respective light beam 404 that is transferred through the window(s) 424 and transmitted toward the FOV 420. Based on the deflected, scattered, and / or absorbed portion compared to the transmitted portion of each light beam 404, the LIDAR processor may determine the energy losses for each light beam 404.

[0168] As may become apparent to a person skilled in the art, there may be various additional combinations of offline and real-time computation of the angles of incidence of the light beams 404, the energy loss of each light beam 404 due to interaction of the light beam 404 with the window(s) 424, and / or the values of the projection parameters which may be used for compensating for the energy losses. However, for brevity, the LIDAR processor is described herein after to determine the angle of incidence, the energy loss, and the projection parameters suitable for compensating for the energy losses, whether through computation, by fetching previously created records and / or a combination thereof.

[0169] The projection parameters which may be adjusted by the LIDAR processor for controlling the energy (e.g., increase or decrease) of the projected light beams 404, for example,maximum energy, average energy, energy distribution, and / or the like may be dependent, dictated, and / or defined by one or more operational parameters of the LIDAR system 400, its architecture, light projection capabilities and / or features, and / or the like.

[0170] For example, assuming the LIDAR system 400 employs Time of Flight (ToF) technology in which the light beams projected to scan the FOV 420 comprise a plurality of light pulses. In such case, the projection parameters of the light beams 404 may be adjusted to adjust energy of the projected light pulses. Such projection parameters may therefore include, for example, a pulse amplitude (intensity), a pulse width, a number of pulses, a pulse sequence pattern (e.g., number of pulses in the sequence, gap between pulses in the sequence, etc.), a wavelength, a polarization of the light pulses, and / or the like. For example, in order to increase energy of light 404 projected to illuminate the FOV 420 and / or part thereof, the LIDAR processor may operate and / or control one or more of the light sources 412 to increase the amplitude of one or more light pulses thus increasing intensity of the projected light pulses to compensate for losses in their transition through the window(s) 424. In another example, the LIDAR processor may operate and / or instruct the light source(s) 412 to increase or decrease the energy of the projected light 404 by increasing or decreasing the width and / or the number of pulses projected toward the FOV 420. In another example, the LIDAR processor may increase or decrease the energy of the projected pulses by adjusting the pulse sequence, for example, a number of pulses in the sequence, time gaps between the pulses, time duration of each pulse (width), a shape of each pulse (i.e., amplitude, intensity, rise time, fall time, etc.), and / or the like.

[0171] In another example, assuming the LIDAR system 400 employs continuous wave (CW) technology in which the projected light beams 404 comprise a continuous wave light signal for scanning the FOV 420. In such case, the projection parameters of the light beams 404 may be adjusted to adjust the energy of the projected CW light signal. For example, in order to increase energy of the proj ected CW light signal proj ected to illuminate the FOV 420 and / or part thereof, the LIDAR processor may operate and / or control one or more of the light sources 412 to increase the amplitude (intensity) of the CW light signal thus increasing intensity of the projected CW light signal to compensate for losses in its transition through the window(s) 424.

[0172] In another example, the projection parameters of the CW light signal may be adjusted to control (i.e., increase or decrease) the number of cycles (repetitions) of the cyclic CW light signal reflected from each portion of the FOV 420 to adjust a signal integration (signal accumulation) time which may be regarded as an indirect signal energy adjustment. The CW light signals mixed with a corresponding local oscillator reference signals over the increasednumber of cycles may be analyzed and / or aggregated (e.g., averaged, etc.), to compensate for degraded SNR resulting from the reflections of the CW light signals off the window(s) 424. To this end, the LIDAR processor may adjust a pixel time of the currently projected CW light signal, i.e., the current instantaneous scan time (interval, or duration) during which the respective CW light signal is projected to scan a respective portion of the FOV 420. For example, an increased pixel time may increase the number of cycles of the CW light signal reflected from the respective portion of the FOV 420 while a reduced pixel time may reduce the number of cycles of the CW light signal reflected from the respective portion of the FOV 420.

[0173] The LIDAR processor may adjust the pixel time of the projected CW light signal using one or more methods, techniques, and / or algorithms. For example, assuming the CW based LIDAR system 400 has no mechanical deflector 414 but rather comprises a plurality light sources such as the light sources 412B each positioned and / or configured to illuminate respective one or more portions of the FOV such as the FOV 420B with CW light signal light beams 404B projected at angles corresponding to the respective portion(s). In such case, in order to compensate for increased energy loss of the CW light beams 404Bwhich is incident on the window(s) 424B at large angles of incidence, the LIDAR processor may increase the operation time of the light source(s) 412B emitting these large incidence angle CW light beams 404B such that the pixel time of these large incidence angle CW light beams 404B is increased. Complementary, by reducing the operation time of light source(s) 412B, the pixel time of their emitted CW light beams 404B may be reduced.

[0174] In another example, assuming the CW based LIDAR system 400 has no mechanical deflector 414 but rather includes an array of optical switching elements, for example, switches, waveguides, path selectors, and / or the like which may be operated to direct light from one or more light sources 412 to a plurality of free space ports each positioned and / or configured to project the CW light beams 404 toward respective one or more portions of the FOV 420 at angles corresponding to the respective portion(s). In such case, in order to compensate for increased energy loss of the CW light beams 404 which is incident on the window(s) 424 at large angles of incidence, the LIDAR processor may increase the switching time of the optical switching elements directing these large incidence angle CW light beams 404 such that the pixel time of these large incidence angle CW light signal light beams 404 is increased. Complementary, by reducing switching time of the optical switching elements, the pixel time of their emitted CW light beams 404 may be reduced.

[0175] In another example, assuming the CW LIDAR system is a scanning LIDAR such as the LIDAR system 400A comprising one or more mechanical deflectors 414, the projection parameters may comprise one or more scanning parameters of one or more of the deflectors 414, for example, scan speed, scan time, scan frequency, and / or the like. This means that LIDAR processor may adjust the pixel time of the projected CW light signal light beams 404A by controlling one or more scanning parameters of the deflector(s) 414. For example, in order to increase the pixel time of the projected CW light signal light beams 404 A, the LIDAR processor may reduce the scan speed of one or more of the deflector(s) 414 since reducing the deflector’s scan speed may cause the CW light beams 404A to be projected in the same angle for an increased (longer) time interval. In another example, in order to decrease the pixel time of the projected CW light beams 404 A, the LIDAR processor may increase the scan frequency of one or more of the deflector(s) 414 since increasing the deflector’s scan frequency may reduce the time interval allocated for projecting the CW light beams 404A at each angle.

[0176] Controlling operation of the deflector(s) 414 to adjust the pixel time of the projected CW light beams 404 may obviously depend on architecture, configuration, and / or operation of the LIDAR system 400A, and specifically on its deflector(s) 414. For example, assuming an exemplary LIDAR system 400A utilizes one or more single axis deflectors 414, for example, a rotating polygon configured for scanning the FOV 420A across a first axis, for example, the horizontal axis, and a tiltable mirror configured to scan the FOV 420A across a second axis, for example, an axis perpendicular to the first axis, e.g., the vertical axis. In such case, the LIDAR processor may control operation of the rotating polygon, for example, rotation speed, time, and / or frequency to adjust the pixel time of the projected CW light beams 404 A in the horizontal scan. Additionally and / or alternatively, LIDAR processor may control operation of the tilting mirror, for example, tilt speed, time, and / or frequency to adjust the pixel time of the projected CW light beams 404 A in the vertical scan. In another example, assuming another LIDAR system 400A utilizes a multi-axis deflector 414, for example bi-axial deflector, configured to deflect the CW light beams 404 A emitted by the light source(s) 412A in two axes, for example, the horizontal axis and the vertical axis. In such case, the LIDAR processor may control operation of the bi-axial deflector 414, for example, scan speed, time, and / or frequency to adjust the pixel time of the projected CW light beams 404A in the horizontal scan and / or the vertical scan.

[0177] In another example, the projection parameters may include a polarization mode of the projected light 404. In such case, the LIDAR processor may adjust the polarization of one or more of the projected light beams 404, whether pulsed light (ToF LIDAR system) or CW lightsignal (coherent LIDAR system), since the polarization of the light beams 404 may affect transfer of the light 404 through the window(s) 424 depending on the angle of incidence on the window(s) 424, a material of the window(s) 424, and / or the like. For example, for each projected light beam 404, the LIDAR processor may adjust the polarization of projected light beams 404 according to the projection angle of the respective projected light beam 404 and the curvature of the window portion (section) of the window(s) 424 on which the respective light beam 404 is incident. For example, as known in the art, P-polarized light, and to a lesser degree S-polarized light, are best transmitted through (and less reflected off) glass or other materials composing the window(s) 424 at angles of incidence which are closer to the Brewster angle. Therefore, the LIDAR processor may adjust the polarization of one or more of the projected light beams 404 to have respective P and S polarization components such that at the point where the respective light beam 404 hits the surface of the window(s) 424 the polarization of the respective light beam 404, composed of its P and S polarization components, is closer to the Brewster angle with respect to the plane of incidence (i.e., window surface) thus increasing transmittance of the respective light beam 404 through the window(s) 424.

[0178] The projected light beams 404 may be polarized using one or more light polarization means, methods, elements, and / or devices a known in the art which may be placed in the optical path of the projected light beams 404. Such polarization means are beyond the scope of this disclosure.

[0179] Moreover, the window(s) 424 may be coated with one or more materials configured to transfer or reflect light at certain polarization. In particular, peripheral sections of the window(s) 424 on which the light beams 204 are incident with large angle of incidence may be coated with materials (coating) which transmit (transfer) more light of a particular polarization compared to materials used to coat central sections of the window(s) 424. The LIDAR processor may be therefore configured to adjust the polarization of the projected light according to the projection angle, for example, adjust the polarization of light projected toward the peripheral sections according to the coating thus increasing the energy of light transmitted via the peripheral sections.

[0180] In another example, the projection parameters may include a wavelength of the projected light 404. For example, a material of one or more of the window(s) 424 may transfer more light in a first polarization while transferring less light at a second polarization. In such case, the LIDAR processor may adjust the wavelength of one or more of the projected light beams 404, whether pulsed light (ToF LIDAR system) or CW light signal (coherent LIDAR system), according to an angle of incidence of the light beams 204 on the window(s) 424. Forexample, at higher angles of incidence, in which energy loss may be higher, the LIDAR processor may adjust the wavelength of the projected light beams 404 to the first wavelength while at lower angles of incidence, in which energy loss may be lower, the LIDAR processor may adjust the wavelength of the projected light beams 404 to the second wavelength.

[0181] Optionally, in one or more LIDAR systems such as the LIDAR system 400B comprising a plurality of light sources such as the light sources 412B each positioned, configured, and / or operated to emit one or more light beams 404B for scanning a respective one or more portions of the FOV 420B, the light sources 412B may be arranged according to a varying distribution. In particular, the light sources 412 may be arranged according to a varying distribution defining (1) increased density of peripheral light sources 412B configured to emit light having increased angle of incidence on one or more windows such as the window 424B, and (2) reduced density of central light sources 412B configured to emit light having reduced angle of incidence on the window(s) 424B.

[0182] This means that there may be more periphery light sources 412B, for example, a laser diode, a solid-state laser, a high-power laser, an edge emitting laser, a VCSEL, an ECDL, and / or the like positioned and configured to emit light beams which are directed for scanning periphery portions of the FOV 420B and thus have increased (oblique) angles of incidence on the window(s) 424B while there may be less center light sources 412B positioned and configured to emit light beams for scanning central portions of the FOV 420B and thus have reduced (small) angles of incidence on the window(s) 424B.

[0183] As such, the LIDAR processor may simultaneously operate multiple periphery light sources 412B such that aggregate light emitted by the multiple periphery light sources 412B may have an increased energy to compensate for energy losses induced by increased reflections of their increased angle of incidence on the window(s) 424B. Specifically, the periphery light sources 412B may be configured and / or operated such that the aggregate energy of the light beams emitted by the multitude of periphery light sources 412B may exceed the energy threshold defined for the LIDAR system 100. The energy loss of light emitted by the center light sources 412B may be significantly smaller due to their reduced angles of incidence on the window(s) 424B and therefore fewer light sources 412B may be operated to simultaneously emit light which may still exceed the defined energy threshold.

[0184] Typically, the LIDAR processor may adjust the projection parameters of the light beam(s) 404 to compensate for loss of energy of the light beam(s) 404 in order to ensure that the energy (level) of the light beam(s) 404 downstream from the window(s) 424 exceeds a certain energy threshold. In other words, the LIDAR processor may adjust the projectionparameters of the light beams 404 such that the energy directed toward the FOV 420 downstream from (i.e., beyond) the window(s) 424. i.e., after the light beams 404 pass through the window(s) 424 is maintained above a certain energy level regardless of the angle of incidence of the light beams 404 on the window(s) 424.

[0185] The LIDAR processor may be configured to adjust the projection parameters of the light beams 404 to achieve a certain light energy distribution across the FOV 420 and / or part thereof. For example, the LIDAR processor may adjust one or more projection parameters of the projected light beams 404 to establish a uniform energy distribution of the projected light beams 404 across the entire FOV 420. In another example, the LIDAR processor may be configured to adjust the projection parameter(s) to control energy of the light beams 404 according to a scanned portion of the plurality of portions of FOV 420 (e.g., ROI, out of ROI, long range, short range, etc.) which defines the angle of incidence of the light beams 404 on the window(s) 424.

[0186] The energy threshold may therefore be defined according to one or more requirements, parameters, and / or considerations of the LIDAR system 400, its operation, and / or performance. For example, the energy threshold may be defined according to a range desired and / or defined for the LIDAR system 400. In such case, a longer range may define a higher energy level threshold while a shorter range may define a lower energy level threshold. Moreover, the threshold may be defined to have different values at different angles of projection of the light beams 204. For example, in a first section of the FOV 420, for example, a center ROI region where increased range is required, the LIDAR processor may be configured to adjust energy level of the light beams 404 projected to scan this region to ensure the energy of these light beams 404 exceeds a first threshold value which is higher than a second threshold value defined for the energy of light beams 404 projected to scan other regions of the FOV 420, for example, side (flank) non ROI regions where a shorter range is required.

[0187] While the energy threshold may be defined to ensure a minimal energy level of the projected light beams 404 downstream (beyond) the window(s) 424 toward the FOV 420, the threshold may also be defined so that the energy of the light beams 404 may comply with one or more requirements, parameters, and / or considerations. For example, the energy threshold may be defined to limit the energy of the projected light beams 404 such that one or more projection parameters of the light beams 404 may be adjusted to ensure that the projected light beams 404 are below a certain safety energy threshold, for example to comply with eye safety regulations.

[0188] The LIDAR processor may further compute, adapt, adjust, and / or otherwise determine the angle of incidence of the currently projected light beam(s) 404 on the window(s) 424 according to one or more window parameters, attributes, and / or characteristics of the window 424, specifically of the window portion (section) on which the currently projected light beam(s) 404 is incident, for example, a surface curvature, a tilt, and / or the like.

[0189] Reference is now made to FIG. 6A and FIG. 6B, which are schematic illustrations of exemplary angles of incidence of light beams, projected by a LIDAR system for scanning an FOV of the LIDAR system, on a window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0190] As seen in illustration 650, a first exemplary window 624A such as the window 424, for example, a window of a LIDAR system such as the LIDAR system 400, a window of a vehicle such as the vehicle 110 behind which the LIDAR system 400 is installed, a transparent cover of a lamp (e.g., glass) in which the LIDAR system 400 is installed, and / or the like may have a flat surface.

[0191] A plurality (n) of light beams 604 A such as the light beams 404 emitted by one or more light sources 612A such as the light source 412 and directed in a plurality of projection angles for scanning an FOV 620A such as the FOV 420 may have a plurality of different angles of incidence on the window 624A. For example, a light beam 604A1 may have an angle of incidence OIAI on the window 624A, a light beam 604Ak may have an angle of incidence otAk on the window 624A, a light beam 604An may have an angle of incidence otAn on the window 624A, and / or the like.

[0192] As seen in illustration 652, a second exemplary window 624B such as the window 424, for example, a window of a LIDAR system such as the LIDAR system 400, a window of a vehicle such as the vehicle 110 behind which the LIDAR system 400 is installed, a transparent cover of a lamp (e.g., glass) in which the LIDAR system 400 is installed, and / or the like may have a curved surface.

[0193] A plurality (n) of light beams 604B such as the light beams 404 emitted by one or more light sources 612B such as the light source 412 and directed in a plurality of projection angles for scanning an FOV 620B such as the FOV 420 may have a plurality of different angles of incidence on the window 624B. For example, a light beam 604B1 may have an angle of incidence am on the window 624B, a light beam 604Bk may have an angle of incidence a.Bk on the window 624B, a light beam 604Bn may have an angle of incidence a.Bn on the window 624B, and / or the like.

[0194] Obviously, the angles of incidence of the light beams 604 on the windows 624 may depend on the curvature of the window 624, specifically at the window portions (sections) on which the light beams 604 are incident. For example, assuming the light beams 604A and 604B emitted by similar light sources 612 are directed in similar projection angles toward the FOV 620, the angles of incidence of the light beams 604A may differ from the angles of incidence of the corresponding light beams 604B having similar projection angles due to the difference between the curvatures of the window 624A which is flat and the window 624B which is curved (convex). For example, the angle of incidence c i of the light beam 604A1 may differ from the angle of incidence c i of the corresponding light beam 604B1, the angle of incidence a.An of the light beam 604An may differ from the angle of incidence a.Bn of the corresponding light beam 604Bn, and so on.

[0195] As seen in illustration 654, another exemplary window 624C such as the window 424, for example, a window of a LIDAR system such as the LIDAR system 400, a window of a vehicle such as the vehicle 110 behind which the LIDAR system 400 is installed, a transparent cover of a lamp (e.g., glass) in which the LIDAR system 400 is installed, and / or the like may have a surface with a varying curvature.

[0196] A plurality (n) of light beams 604C such as the light beams 404 emitted by one or more light sources 612C such as the light source 412 and directed in a plurality of projection angles for scanning an FOV 620C such as the FOV 420 may have a plurality of different angles of incidence on the window 624C. For example, a light beam 604C1 may have an angle of incidence aci on the window 624C, a light beam 604Ck may have an angle of incidence ack on the window 624C, a light beam 604Cn may have an angle of incidence acn on the window 624C, and / or the like.

[0197] As opposed to the window 624B which may have a uniformly curved surface, the surface of the window 624C may have varying curvatures meaning there may be different curvatures at different sections of the window. For example, a first section 624C1 of the window 624C may have a first curvature, a second section 624C2 may be flat, and a third section 624C3 may have a curvature which may be the same or different from the first curvature.

[0198] Since the angles of incidence of the light beams 604C on the windows 624C depend on the curvature of the window 624C, the different curvatures of the surfaces of the portions 624C1, 624C2 and 624C3 may induce different angles of incidence for the light beams 604C that are incident on these surfaces. For example, assuming the light beams 604C1 and 604Cn emitted by the light source 612C are directed in similar (but opposite) projection angles towardthe FOV 620C, the angle of incidence aci of the light beam 604C1 may differ from the angle of incidence acn of the light beam 604Cn due to the difference between the surface curvature of the portions 624C1 and the surface curvature of the portion 624Cn.

[0199] Moreover, the surface of the first section 524C1 and / or the third section 524C3 may also have a varying curvature, such that the normal to the surface at one point in these sections may differ from the normal to the surface of these sections (i.e., not parallel to) at one or more other points in these sections, meaning the angle of incidence may differ between light beams 504 which are fall on the surface of the same section at different points.

[0200] The LIDAR processor may therefore compute, adapt, adjust, and / or otherwise determine the angle of incidence of the currently projected light beam(s) 604A, 604B, and / or 604C on the windows 624A, 624B, and 624C respectively according to the surface curvature of the windows 624A, 624B, and 624C.

[0201] In another example (not illustrated), the same window 424 may be installed with a tilt angle with respect to the light beams 404 projected by the LIDAR system 400 toward the FOV 420. In such case, the LIDAR processor may compute, adapt, adjust, and / or otherwise determine the angle of incidence of the projected light beam 404 on the window 424 according to the tilt angle of the window 424.

[0202] Reference is made once again to FIG. 3.

[0203] As seen in 310, the process 300 may be an iterative process which may be repeated for a plurality of light beams 404 projected toward the FOV 420 at a plurality of different angles during each of one or more scans of the FOV 420 by the LIDAR system 400. In particular, the process 300 may be iteratively repeated for LIDAR systems 400 which employ line scanning, flying spot scanning and / or the like in which, the light beams 404 are sequentially projected at different projection angles during scan of the FOV 420. Since the angle of incidence of the light beams 404 on the window(s) 424 may change during the scan of the FOV 420, the process 300 may be repeated to adjust the projection parameter(s) of one or more additional light beams 404 according to the specific projection angle of each light beam 404 which defines the angle of incidence of each light beam 404 on the window 424.

[0204] As described herein before, according to some embodiments, the LIDAR system 400 may include one or more light sources 412 configured to emit, simultaneously, an array of light beams for scanning a plurality of portions (pixels) of the FOV 420. In such embodiments, the LIDAR processor may be configured to individually adjust one or more projection parameters of each of one or more of the light beams 404 of the array. In particular, since each of the light beams 404 of the array may have a respective angle of incidence on the window(s) 424, theLIDAR processor may individually adjust the projection parameter(s) of each of the light beams 404 of the array according to its respective angle of incidence on the window(s) 424.

[0205] Reference is now made to FIG. 7, which depicts schematic illustrations of exemplary windows associated with a LIDAR system configured to project light beams for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure.

[0206] An exemplary light source 712 such as the light source 412 of a LIDAR system such as the LIDAR system 400 may be configured to emit an array of light beams 704 ARRAY for scanning an FOV 720 such as the FOV 420 and / or part thereof. As seen, the array 704_ARRAY may comprise a plurality of light beams 704 emitted simultaneously, for example, eight light beams 704_l, 704_2, 704_3, 704_4, 704_5, 704_6, 704_7, and 704_8.

[0207] The plurality of light beams 704_k (k = 1, 8) may pas through one or more windows724 such as the window 424 associated with the LIDAR system 400. Since each of the plurality of light beams 704_k is emitted with a respective projection angle for illuminating a respective portion of the FOV 720, each of the light beams 704_k may have a respective angle of incidence on the window 724 which may be different from the angles of incidence of the other light beams 704_k. As seen, while each of the light beams 704_k may have a different projection angle, since the window 724 may be significantly close to the point from which the light beams 704_k are projected, two or more of the light beams 704_k may overlap with each other on the window 724.

[0208] In such case, one or more processors such as the processor 118, i.e., the LIDAR processor, may adjust the projection param eter(s) of each light beam 704_k of the array 704_ARRAY individually according to its respective angle of incidence on the window 724. In particular, during each instantaneous scan time (Z) of the scan period of the FOV 720 and / or part thereof, the LIDAR system 400 may project (transmit) a respective array 704_ARRAY(t) of eight light beams 704_k(t) (k = 1, 8). The LIDAR processor may be therefore configured to dynamically adjust, during each instantaneous scan time (Z), the projection parameter(s) individually for each light beam 704_k(t) of the array 704_ARRAY(t) according to its respective angle of incidence on the window(s) 124 during the respective instantaneous scan time (Z).

[0209] According to some embodiments, each light beam 404 projected by the LIDAR system 400 may have an extended cross-section (spot size). As such, in case the window 424 has a varying curvature, for example, a window such as the window 524C, an extended cross-section light beam 404 may incident on a window portion (surface) of the window 524C which has a varying curvature, i.e., the curvature may be different at different points of the window portion.Due to the changing curvature of the window portion, the extended cross-section light beam 404 may incident on the window 524C in a plurality of different angles of incidence. In such case, the LIDAR processor may be configured to adjust one or more projection parameters of one or more extended cross-section light beam 404 based on an aggregated energy loss (e.g., average, weighted average, etc.) computed for the plurality of angles of incidence of the at extended cross-section light beam 404 on the varying curvature window portion of the window 524C in order to compensate for energy losses induced by reflections of the extended crosssection light beam 204 off the window 524C induced by the plurality of different angles of incidence on the varying curvature window portion.

[0210] Reference is now made to FIG. 8, which is a schematic illustration of an exemplary light beam extending over a varying curvature surface of an exemplary window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0211] An exemplary window 824 such as the window 424, for example, a window of a LIDAR system such as the LIDAR system 400, a window of a vehicle such as the vehicle 110 behind which the LIDAR system 400 is installed, a transparent cover of a lamp (e.g., glass) in which the LIDAR system 400 is installed, and / or the like may have a curved surface, in particular, one or more window portions having varying curvature. For example, a first portion (section) 824_1 of the window 824 may have a first curvature, a second portion (section) 824_2 may have a second curvature (e.g., flat), and a third portion (section) 824 3 may have a third curvature which may be the same or different from the first curvature. Moreover, the surface of the first portion 824 1 and / or the third portion 824 3 may have a varying curvature, such that the curvature of the surface of these portions may change within the portions and may be therefore different at different point of the surface of these portions.

[0212] A plurality of light beams 804 such as the light beams 404 emitted by one or more light sources 812 such as the light source 412 may be directed toward an FOV 820 such as the FOV 420 in a plurality of projection angles for scanning the FOV 820. In particular, the light beams 804 may have a large cross-section (spot).

[0213] Some of the projected light beams 804, for example, a light beam 804 1 may fall (incident) on a window portion of the window 824 which has a constant curvature across its entire surface, for example, the section 824 2. The light beam 804 1 may therefore have a uniform angle of incidence al with respect to the normal to the surface of the window portion 824 2 across its entire cross-section. For brevity, the angles of incidence al are shown only for the outer perimeter of the light beam 804 1, however the light beam 804 1 may hit the window portion 824 2 with the same angle of incidence al across its entire cross-section.

[0214] However, some of the projected light beams 804 may fall (incident) on a surface of the window 824 which has a varying curvature such that the light beam 804_2 and 804_3 may have a plurality of angles of incidence with respect to a normal to the varying curvature surface.

[0215] For example, a light beam 804 2 may fall on multiple window portions of the window 824 which have different curvatures, for example, the window portions824_l and 842_2. The light beam 804 2 may thus have a plurality of angles of incidence a2 with respect to the normal to the window portion 824 1 and 824 2 across its entire cross-section. For example, a first point on a perimeter of the light beam 804 2 may have a first angle of incidence a2i while a second point on the perimeter of the light beam 804 2 may have a second angle of incidence a22. For brevity, the angles of incidence a2 are shown only the outer perimeter of the light beam 804_2, however the light beam 804_2 may have a plurality of different angles of incidence a2 across its entire cross-section, specifically a plurality of different angles in a range between a2i and a22.

[0216] In another example, a light beam 804 3 may incident on a window portion of the window 824 having a surface which has a varying curvature, for example, the window portion 824 1. The light beam 804 2 may thus have a plurality of angles of incidence a3 with respect to the normal to the window portion 824 1 across its entire cross-section. For example, a first point on a perimeter of the light beam 804 3 may have a first angle of incidence a31 while a second point on the perimeter of the light beam 804 3 may have a second angle of incidence a32. For brevity, the angles of incidence a3 are shown only the outer perimeter of the light beam 804 3, however the light beam 804 3 may have a plurality of different angles of incidence a3 across its entire cross-section, specifically a plurality of different angles in a range between a3i and ofh.

[0217] One or more processors such as the processor 118, i.e., the LIDAR processor, may therefore determine the angles of incidence a2 and a3 across the entire cross-section of the light beams 804 2 and 804 3, respectively. Based on the determined angles of incidence of a2, the LIDAR processor may compute, estimate, and / or otherwise determine an aggregate energy loss resulting from reflections from the window portions 824_1 and / or 824_2 induced by the plurality of angles of incidence a2 across the extended cross-section of the light beam 804 2. Similarly, based on the determined angles of incidence of a3, the LIDAR processor may determine an aggregate energy loss resulting from reflections from the varying curvature surface of the window portion 824 1 induced by the plurality of angles of incidence a3 across the extended cross-section of the light beam 804 3.

[0218] The energy loss aggregation applied by the LIDAR processor may include, for example, averaging the energy loss across the cross-section of the light beams 804_2 and / or 804_3. In another example, the aggregation may include a weighted average of the energy loss across the cross-section of the light beams 804_2 and / or 804_3 according to the respective energy loss induced by each angle of incidence a2 or a3 across the cross-section of the light beam 804 2 or the light beam 804 3, respectively. The LIDAR processor may then adjust one or more projection parameters of the light beam 804 2 and / or 804 3 according to the determined aggregate energy loss.

[0219] As described herein before, the light beams 404 projected by the LIDAR system 100 for scanning the FOV and / or part thereof may pass through a plurality of windows such as the window 424 deployed in their optical path to the FOV 120, for example, a window of the LIDAR system 400 itself, a window of the vehicle 110, for example, a windshield behind which the LIDAR system 400 is installed, a cover of a lamp in which the LIDAR system 400 is installed, and / or the like. For example, assuming the LIDAR system 400 is installed behind the windshield of the vehicle 110, the light beams 404 projected by the LIDAR system 100 may pass through the window of the LIDAR system 400 itself and also through the windshield. In another example, assuming the LIDAR system 400 is installed in a lamp housing of the vehicle 110, the light beams 404 projected by the LIDAR system 100 may pass through the window 424 of the LIDAR system 400 itself and also through the cover of the lamp.

[0220] In such embodiment, the LIDAR processor may adjust one or more of the projection parameters of one or more of the projected light beams 404 according to their angles of incidence on the plurality of windows 424 to compensate for energy losses resulting from reflections of the projected light beams 404 off the windows 424. Since the reflections and hence the energy losses depend on the angles of incidence of the light beams with respect to a normal to the surface of the windows 424, the LIDAR processor may adjust the projection parameters of the projected light beams 204 according to their angle of incidence on each of the plurality of windows 424 the light beam 404 passes on its way (optical path) toward the FOV 420.

[0221] Reference is now made to FIG. 9, which is a schematic illustration of an exemplary deployment of multiple windows associated with a LIDAR system configured to project light beams for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure.

[0222] A LIDAR system such as the LIDAR system 400 may be configured to project a plurality of light beams 904 such as the light beams 404, emitted by one or more light sources912 such as the light source 412, in a plurality of projection angles for scanning an FOV 920 such as the FOV 420.

[0223] A plurality of windows 924 such as the window 424, for example, a first window 904A having a flat surface and second window 904B having a curved surface may be deployed along the optical path of the light beams 904 toward the FOV 920. The first window 904A and second window 904B may include, for example, a window of the LIDAR system 400, a window of a vehicle such as the vehicle 110 behind which the LIDAR system 400 is installed, a transparent cover of a lamp (e.g., glass) in which the LIDAR system 400 is installed, and / or the like.

[0224] As seen, each of the plurality of projected light beams 904, may have a respective first angle of incidence with respect to the first window 924A, in particular with respect to a normal to the surface of the first window 924 A, and a respective second angle of incidence with respect to the second window 924B, in particular with respect to a normal to the surface of the second window 924B.

[0225] For brevity only a single light beam 904A is illustrated which has a respective first angle of incidence ai with respect to a normal 910A to the surface of the first window 924 A, and a respective second angle of incidence 012 with respect to a normal 910B to the surface of the second window 924B. However, the same concepts, methods, and / or mechanics may apply to any of the plurality of light beams 904, each having a respective first angle of incidence with respect to the first window 924A and a respective second angle of incidence with respect to the second window 924B.

[0226] As seen, only part 904A’ of the light beam 904A may be transferred through the first window 924A since at least some of the light 904A” of the light beam 904A may be reflected (i.e., reflected, scattered, diffused, etc.) off the first window 924A. In particular, as described herein before, the amount of transferred light 904A’ and the amount of reflected light 904A” depends on the first angle of incidence ai of the light beam 904A with respect to the normal 910A to the surface of the first window 924A. This means that at least some of the energy of the light beam 904A is lost due to reflections off the first window 924A, specifically according to the angle of incidence ai.

[0227] Moreover, additional energy of the original light beam 904A is further lost due to reflections of the light beam 904A’ off the second window 924B. Specifically, this energy loss may depend on the second angle of incidence ai with respect to the normal 910B to the surface of the second window 924B. As seen, a first portion 904 AB’ of the light beam 904 A’ may pass through the second window 924B toward the FOV 920 while a second portion 904 AB” of the light beam 904B may be reflected off the second window 924B and thus not projected towardthe FOV 920. This means that only part of the energy of the light beam 904A’ specifically, the energy of the light beam 904AB’ may be projected toward the FOV 920.

[0228] In such embodiment, the LIDAR processor may adjust one or more of the projection parameters of the projected light beams 904 A according to its angles of incidence with respect to the first window 924A and with respect to the second window 924B to compensate for the energy losses resulting from reflections of the projected light beams 904A off both the first and second windows 924 A and 924B. For example, the LIDAR processor may increase energy of the light beam 904A to compensate for the combined loss of energy of the light beam 904A due to reflections off the first and second windows 924A and 924B in order to ensure that the transferred light beam 904 AB’ has an energy level exceeding a certain energy threshold value, for example, an energy level sufficient for scanning the FOV at up to a certain range from the LIDAR system.

[0229] Optionally, the LIDAR processor may adjust one or more of the projection parameters of one or more of the light beams 404 according to one or more window parameters of the window(s) 424, other than the window’s surface curvature, which may affect interaction of one or more of the light beams 404 with the window(s) 424, specifically window parameters which may change across different projection angles of the light beams 404 and their corresponding angle of incidence on the window(s) 424. These window parameters, for example, curvature, thickness, material type, diffraction index, and / or the like may affect interaction of the light transmitted through the window(s) 424, specifically the projected light beams 404 and optional the light reflected from the FOV 420 and may potentially decrease energy of the light transmitted (transferred) via the window(s) 424.

[0230] For example, assuming a first portion (section) of the window 424 is thinker than a second portion (section) of the window 424 which may induce increased energy loss to transmitted light compared to light transmitted through the second window portion. In such case, the LIDAR processor may adjust one or more projection parameters, for example, intensity, pixel time, and / or the like to increase the energy of a first light beam 404 transmitted at a first projection angle and incident on the first window portion at a first angle of incidence compared to the energy of a second light beam 404 transmitted at a second projection angle and incident on the second window portion.

[0231] In another example, assuming a first window portion of the window 424 is made of a material having a first diffraction index larger than the diffraction index of a second window portion of the window 424 such that more light hitting the first window portion may be transmitted and more reflected compared to the second window portion which may transmitmore light and reflect less light. This means that the first window portion may induce increased energy loss to the transmitted light compared to the second window portion. In such case, the LIDAR processor may adjust one or more projection parameters (e.g., intensity, pixel time, etc.) to increase the energy of a first light beam 404 transmitted at a first projection angle and incident on the first window portion at a first angle of incidence compared to the energy of a second light beam 404 transmitted at a second projection angle and incident on the second window portion of the window 424.

[0232] Optionally, one or more of the projection parameters of one or more of the projected light beams 204 may be adjusted to compensate for loss of energy in the respective light beam 404 due to partial transmission of the respective light beam 404 through the window(s) 424 as result of blocking of the respective light beam 404 by one or more non-transmitting portions (sections, segments, surfaces) and / or elements of the window(s) 424. For example, one or more light beams 404, for example, light beams projected toward extreme peripheral regions of the FOV 420, may at least partially hit a perimeter frame of the window which may not transfer the light toward the FOV 420. In another example, one or more of the windows 424 may include one or more non-transmitting elements (e.g., opaque elements, metal elements, translucent elements, etc.) which may at least partially block at least part of one or more projected light beams 404.

[0233] Reference is now made to FIG. 10, which depicts schematic illustrations of clipping effects of light beams projected by a LIDAR system due to partial blocking of a window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0234] In a first exemplary deployment, illustrated in illustration 1050, a first exemplary window 1024 A through which a plurality of light beams 1004 A such as the light beams 404 may be projected by a LIDAR system such as the LIDAR system 400 for scanning an FOV such as the FOV 420 and / or part thereof.

[0235] As seen, one or more of the light beams 1004 A may be at least partially blocked by one or more non-transmitting elements of the window 1024A. For example, a light beam 1004A1 projected toward a peripheral right region of the FOV may be at least partially blocked by a right frame of the window 1024 A. In another example, a light beam 1004A2 projected toward a peripheral top region of the FOV may be at least partially blocked by a top frame of the window 1024 A. In another example, a light beam 1004 A3 projected toward a center region of the FOV may be at least partially blocked by a reinforcing rail or bar stretching between the top and bottom frames of the window 1024 A. In another example, a light beam 1004A4projected toward a peripheral top left region of the FOV may be at least partially blocked by both a left frame and the top frame of the window 1024A.

[0236] In such case, the LIDAR processor may adjust one or more of the projection parameters of each of the projected light beams 1004 An (n = 1, 4) according to the portion of the respective projected light beams 1004An which is blocked by the non-transmitting elements of the window 1024 A.

[0237] In a second exemplary LIDAR system, illustrated in illustration 1052, a LIDAR system such as the LIDAR system 400 may have one or more light sources such as the light source 112 configured to simultaneously emit an array of light beams 1004B ARRAY for scanning an FOV such as the FOV 420 and / or part thereof. The array 1004B ARRAY may comprise a plurality of light beams emitted simultaneously, for example, eight light beams.

[0238] In particular, as described herein before, during each instantaneous scan time (Z) of the scan period of the FOV and / or part thereof, the LIDAR system may project (transmit) a respective array 1004_ARRAY(t). For example, during a time period tl, a beam array 1004_ARRAY(l) may be projected, during a time period t2, a beam array 1004_ARRAY(2) may be projected, during a time period t3, a beam array 1004_ARRAY(3) may be projected, and so on.

[0239] As seen, while one or more light beam arrays 1004B_ARRAYs, for example, a light beam array 1004B_ARRAY(2) projected toward a central region of the FOV may not be blocked by a window 1024B associated with the LIDAR system, one or more other light beam arrays 1004B ARRAY may be at least partially blocked by one or more non-transmitting elements of the window 1024B. For example, a light beam array 1004B_ARRAY(l) projected toward a peripheral top right region of the FOV may be at least partially blocked by a right frame of the window 1024B. Moreover, one or more light beams of the light beam array 1004B_ARRAY(l) ), for example, a top light beam, may be also at least partially blocked by a top frame of the window 1024B. In another example, a light beam array 1004B_ARRAY(3) projected toward a peripheral bottom left region of the FOV may be at least partially blocked by a left frame of the window 1024B. Moreover, one or more light beams of the light beam array 1004B_ARRAY(3), for example, a bottom light beam, may be also at least partially blocked by a bottom frame of the window 1024B.

[0240] The LIDAR processor may be therefore further configured to dynamically adjust, during one or more instantaneous scan time (Z), the projection param eter(s) of the light beam arrays 1004_ARRAY(t) to compensate for energy losses due to the partial blocking of the one or more light beams of the of the respective light beam array 1004_ARRAY(t) by one or morenon-transmitting elements of the window 1024B. Moreover, the LIDAR processor may adjust one or more projection parameters individually for each light beam of the respective light beam array 1004_ARRAY(t) according to a level of blocking of the respective light beam.

[0241] Optionally, one or more of the projection parameters of one or more of the projected light beams 404 may be adjusted to compensate for loss of energy of the respective light beam 404 due to partial deflection of the respective light beam 404 toward the FOV 420 by one or more deflectors such as the deflector 414 of the LIDAR system 400. Partial deflection may be traced to some of the light of one or more of the projected light beams 404 not being fully incident on a reflective surface of the deflector(s) 414 which is currently oriented for deflecting the respective light beams 404 toward the FOV 420.

[0242] Reference is now made to FIG. 11, which depicts schematic illustrations of clipping effects of light beams projected by a LIDAR system due to partial deflection of the light beams by a deflector of the LIDAR system, in accordance with embodiments of the present disclosure.

[0243] Illustration 1150 shows an exemplary deflector such as the deflector 114 of a LIDAR system such as the LIDAR system 100, specifically a rotating polygon 1114A configured and / or operated to deflect a plurality of light beams 1104A such as the light beams 204 toward an FOV such as the FOV 120.

[0244] As seen, during a scan of the FOV, for example, a line scan in which a horizontal line of the FOV is scanned, ( / / ) light beams 1104A emitted by one or more light source such as the light source 412 may be directed toward a respective reflective facet of the polygon 1114A which is currently oriented and positioned for deflecting the light beams 1104A toward the FOV for scanning the FOV. However, one or more light beams 1104A, for example, the light beams 1104A1 and the light beam 1104An may be only partially deflected toward the FOV since at least part of these light beams may not hit the reflective facet of the polygon 1114A which is oriented for deflecting the light beams 1104A toward the FOV. Rather, this light may fall on a comer of the polygon 1114A and / or on another facet of the polygon 1114 A. As result, since only part of the light beams 1104A1 and / or 1104An is deflected toward the FOV, at least part of the energy of the light beams 1104A1 and / or 1104An is not deflected by the polygon 1114A toward the FOV.

[0245] In such case, the LIDAR processor may adjust one or more of the projection parameters of the light beams 1104A1 and / or 1104An according to the portion of the light beams 1104A1 and / or 1104An which is not deflected by the scanning polygon 1114A toward the FOV. In particular, the LIDAR processor may adjust the projection param eter(s) of the light beams 1104A1 and / or 1104An to increase their energy level, so that the partial light of the light beams1104A1 and / or 1104An which is deflected toward the FOV may have sufficient energy for maintaining scanning and detection performance of the LIDAR system, for example, a certain detection range, a certain detection reliability, a certain false positive rate, and / or the like.

[0246] Illustration 1052 shows an exemplary deflector such as the deflector 414 of a LIDAR system such as the LIDAR system 400, specifically a rotating polygon 1114B configured and / or operated to deflect a plurality of light beam arrays 1104B emitted by one or more light sources such as the light source 412 toward an FOV such as the FOV 420.

[0247] As seen, during a scan of the FOV, for example, a line scan in which a horizontal line of the FOV is scanned, a plurality of (n) light beam arrays 1104B_ARRAY(k) (k = 1, ri) emitted by the light source(s) may be directed toward a respective reflective facet of the scanning polygon 1114B which is currently oriented and positioned for deflecting the light beams of the 1104B_ARRAY(n) toward the FOV. However, one or more light beams of one or more of the light beam arrays 1104B_ARRAY(k) may be only partially deflected toward the FOV since at least part of these light beams may not hit the reflective facet of the polygon 1114A which is oriented for deflecting the light beams 1104A toward the FOV.

[0248] For example, a bottom light beam of all of the light beam arrays 1104B_ARRAY(k) may be only partially deflected by the scanning polygon 1114B since a portion of these light beams does not fall on the reflective facet of the polygon 1114B which is currently oriented for deflecting the light beams toward the FOV. In another example, a at least part of the light beams of the light beam arrays 1104B_ARRAY(l) and 1104B_ARRAY(n) may be only partially deflected by the scanning polygon 1114B since a portion of each of these light beams does not fall on the reflective facet of the polygon 1114B which is currently oriented for deflecting the light beams toward the FOV.

[0249] In such case, the LIDAR processor may adjust one or more of the projection parameters of one or more light beams of one or more of the light beam arrays 1104B_ARRAY(k) which are not fully deflected by the scanning polygon 1114B toward the FOV. In particular, the LIDAR processor may adjust the projection parameter(s) of these light beams to increase their energy level, so that the partial light of these light beams which is deflected toward the FOV may have sufficient energy for maintaining scanning and detection performance of the LIDAR system.

[0250] Additionally to adjusting projection parameters of the light beams 404 projected by the LIDAR system 400 to compensate for energy losses induced by interaction of the projected light beams 404 with the window(s) 424 on the optical transmission path (TX) towards the FOV 420, one or more projection parameters of the projected light beams 404 may be adjustedto compensate for loss of energy of the light such as the light 206 reflected from the FOV 420 due to its interaction with one or more windows such as the window 424 locate din the optical reception path (RX), i.e., along the optical path of the light reflected back toward one or more sensors such the sensor(s) 116 of the LIDAR system 400.

[0251] Typically, on its path from the FOV 420 back to the LIDAR system 400, the reflected light may pass through the same window(s) 424 which the projected light 404 passed through on its path toward the FOV 420. However, while the projected light 404 is incident on an inner surface of the window(s) 424 facing the point of origin of the projected light 404, the reflected light is incident on an outer surface of the window(s) 424 facing the FOV 420. Typically, the curvature of the window(s) 424 may be significantly similar for its inner and outer surfaces. In such case the angle of incidence of the reflected light on the window(s) 424 may be significantly similar (same) to the angle of incidence of its corresponding projected light beam 404, i.e., the corresponding projected light beam 404 which is reflected from one or more objects in the FOV 420 to produce the reflected light. However, in some embodiments the inner and outer curvatures of the one or more windows 424 may be different from each other which may result in different angles of incidence for the projected light beams 404 and their corresponding reflected light beams.

[0252] The LIDAR processor may therefore adjust one or more of the projection parameters of the one or more of the projected light beams 404 according to the angle of incidence of the corresponding reflected light in order to further compensate for energy losses due to reflections of the reflected light off the window(s) 424 which are induced and depend on the angle of incidence of the reflected light on the window(s) 424.

[0253] Reference is now made to FIG. 12, which depicts schematic illustrations of angles of incidence of exemplary light beams reflected from one or more objects in an FOV of the LIDAR on a window associated with the LIDAR system, in accordance with embodiments of the present disclosure.

[0254] Illustrations 1250, 1252 and 1254 depict a plurality of exemplary light beam 1206 such as the light 206, reflected by one or more objects in an FOV 1220 such as the FOV 420 of a LIDAR system such as the LIDAR system 400 and directed to one or more sensors 1216 such as the sensor 116 of the LIDAR system. Each of the light beams 1206 may be reflected by object(s) illuminated with a respective corresponding light beam such as the light beam 404 emitted by a light source such as the light source 412.

[0255] As seen, each of the light beam 1206 may hit one or more windows such as the window 124, for example, a window 1224 at a respective angle of incidence p.

[0256] For example, a first light beam 1206A reflected from an object in the FOV 1220 may be incident on the window 1224 at an angle of incidence Pi, for example, 0°, i.e., a straight angle (90°) with respect to the surface of the window 1224 such that a corresponding light beam 1206A’ may pass through the window 1224 and be directed toward the sensor(s) 1216. Since its angle of incidence Pi is a straight angle, there may be negligible and potentially no reflections of the light beam 1206A off the surface of the window 1224, and the light beam 1206 A may therefore loose negligible energy meaning the energy of the light beam 1206 A’ significantly equals the energy of the light beam 1204A.

[0257] In another example, as seen in illustration 1252, another exemplary light beam 1204B reflected from an object in the FOV 1220 may arrive at the window 1224 at an angle of incidence P2 with respect to the normal 1210B to the surface of the window 1224, typically an angle larger than 0°. As seen, at least some of the light beam 1206B may be reflected (i.e., reflected, scattered, diffused, etc.) off the window 1224 according to the angle of incidence P2 of the light beam 1206B on the window 1224. For example, a first portion 1206B’ of the light beam 1204B may pass through the window 1224 toward and be directed toward the sensor(s) 1216 while a second portion 1206B” of the light beam 1206B may be reflected off the window 1224 and thus not directed toward the sensor(s) 1216. This means that only part of the energy of the light beam 1206B specifically, the energy of the light beam 1206B’ may be directed toward the sensor(s) 1216.

[0258] In another example, as seen in illustration 1254, yet another light beam 1206C reflected from an object in the FOV 1220 may fall on the window 1224 at an angle of incidence P3 with respect to the normal 1210C to the surface of the window 1224, for example, an angle larger than the angle P2. As described for the light beam 1206B, at least some of the light beam 1206C may be reflected according to the angle of incidence P3 of the light beam 1206C on the window 1224. For example, a first portion 1206C’ of the light beam 1206C may be transmitted through the window 1224 and be directed toward the sensor(s) 1216 while a second portion 1206C” of the light beam 1206C may be reflected off the window 1224 and thus not directed toward the sensor(s) 1216. This means that only part of the energy of the light beam 1206C specifically, the energy of the light beam 1206C’ may be directed toward the sensor(s) 1216.

[0259] Moreover, since the angle of incidence P3 of the light beam 1206C is larger than the angle of incidence P2 of the light beam 1206B, energy of the reflected portion 1206C” of the light beam 1206C may be larger than the energy of the reflected portion 1206B” of the light beam 1206B, meaning that the energy level of the light beam 1206C’ directed toward the sensor(s) 1216 is smaller than energy level of the light beam 1206B’.

[0260] The LIDAR processor may therefore determine the angles of incidence Pi, P2, and P3, and based on the determined angles of incidence, the LIDAR processor may compute, estimate, and / or otherwise determine the energy loss of each of the reflected light beams 1206 due to their reflections off the window 1224 and adjust accordingly one or more of the projection parameters of the projected light beams 604 corresponding to one or more of the reflected light beams 1206A, 1206B, and / or 1206C to further compensate for energy losses of the reflected light beams 1206 on the reception path from the FOV 1220 toward the sensor(s) 1216.

[0261] Information regarding presence of window(s) 424 deployed in the optical path of the light beams 404 projected by the LIDAR system and optionally in the optical path of the light reflected from the FOV 420 may be available and known to the LIDAR processor. In particular, the LIDAR processor may obtain such information including parameters of the window(s) 424, for example, curvature, thickness, material, diffraction index, and / or the like, specifically in association with each projection angle of the light beams 404. For example, presence of the window(s) 424 as well as window parameters of the window(s) 424 may be stored in one or more storage mediums available and accessible to the LIDAR processor, for example, a record stored in a local memory device of the LIDAR system 400, a record stored in a remote storage accessible by the LIDAR processor through one or more communication interfaces such as the communication interface 214, for example, a storage medium deployed in the vehicle 110, a remote server, a clod service, and / or the like.

[0262] However, according to some embodiments, the LIDAR processor of the LIDAR system 400 may be optionally configured to automatically detect the presence of one or more windows such as the window 424, for example, the window of the LIDAR system 400, a window of a vehicle such as the vehicle 110 in which the LIDAR system 400 is installed, for example, a windshield, a lamp cover (e.g., head lamp cover, etc.), and / or the like.

[0263] Moreover, in addition to detecting presence of the window(s) 424, the LIDAR system 400 may be configured to determine one or more window parameters of each window, for example, a curvature, a thickness, a material, a refraction index, and / or the like. In particular, the LIDAR system 400 may determine the window parameters of the window(s) 424 at a plurality of locations on which the light projected by the LIDAR system and / or reflected from the FOV impinges, i.e., across a plurality of projection angles associated with the FOV 420, for example, all projection angles spanning the angular extent of the FOV 420, for example, the horizontal extent and the vertical extent.

[0264] Reference is now made to FIG. 13, which is a flow chart of an exemplary process of detecting one or more windows deployed associated a LIDAR system through which lightbeams projected by the LIDAR system pass for scanning an FOV of the LIDAR system, in accordance with embodiments of the present disclosure.

[0265] An exemplary process 1300 may be executed, for example, by one or more processors such as the processor 118 of one or more LIDAR systems such as the LIDAR system 400, designated LIDAR processor herein after, for automatically detecting one or more windows such as the window 424 associated with the LIADR system 400 and determining one or more window parameters of the detected windows. In particular, the process 300 may executed to detect the presence of window(s) 424 located in the optical path of the projected light beams 404 and optionally of the light reflected from the FOV 420.

[0266] The process 1300 is an iterative process which may be repeated for a plurality of projection angles of the light beams 404 in order to determine the window parameters of each detected window 424, for a curvature, a thickness, a material, a refraction index, and / or the like which may vary in different directions with respect to the LIDAR system 400 and may thus depend on the projection angles of the light beams 404.

[0267] The process 1300 may be executed offline, and / or before starting to scan the FOV 420 such that the window parameters of detected window(s) 424 determined during the process 1300 may be used for one or more processes such as the process 300 for dynamically adjusting one or more projection parameters of the light beams 404 projected by the LIDAR system 400 for scanning the FOV 420 and / or part thereof to compensate for losses in the projected light beams 404 due to their interaction with the window(s) 424.

[0268] As shown at 1302, the LIDAR processor may adjust one or more projection parameters of one or more of the light sources 412.

[0269] Specifically, the LIDAR processor may adjust the projection parameters to reduce energy of the projected light, for example, reduce light intensity, reduce pixel time, and / or the like in order to ensure that the projected light does not exceed one or more safety thresholds, for example, a maximum eye safety energy level assuming the absence of attenuating windows 424. Since the window(s) 424 may be significantly close to the LIDAR system 400, projecting even significantly reduced energy light beams 404 may be sufficient for effectively illuminating the window(s) 424 with the projected energy reduced light beams 404 and detecting reflections of the projected light beams 404 from the window(s) 424.

[0270] As shown at 1304, the LIDAR processor may operate the light source(s) 412 to emit light according to the adjusted projection parameters.

[0271] As shown at 1306, the LIDAR processor may operate one or more units of the LIDAR system 400 to project the light beam(s) 404 emitted by the light source(s) 412 at a plurality ofprojection angles for scanning the FOV 420. In particular, during each instantaneous time, one or more light beams 404 may be each projected at a respective projection angle such that during a complete scan of the FOV 420 and / or part thereof, a plurality of light beams 404 may be projected toward all portions such as the portions 122 constituting the FOV 120 and / or part thereof.

[0272] The LIDAR processor may control projection of the light beams 404 toward the FOV 420 as well as reception of the light reflected from the FOV 420 may be done depending on the architecture, technology and / or design of the LIDAR system 400, as described in detail herein before, for example, a mechanical scanning LIDAR system such as the LIDAR system 400A, a non-mechanical scanning LIDAR system such as the LIDAR system 400B, an OPA based LIDAR system, and / or the like.

[0273] As shown at 1308, the LIDAR processor may receive signal data from one or more sensors such as the sensor 116 of the LIDAR system, specifically signal data indicative of reflections of at least some of the light projected by the LIDAR system (step 1306) and reflected from one or more of the window(s) 424.

[0274] As shown at 1310, the LIDAR processor may identify presence of one or more windows located on the optical path of the projected light downstream from the LIDAR system 400, i.e., between the LIDAR system 400 and the FOV 420. The LIDAR processor may further determine one or more window parameters of the identified window(s) 424 which may affect interaction of light with the window(s) 424, for example, transmission, reflection, and / or absorption of projected light 404 and / or light reflected from the FOV 420 toward the LIDAR system 400 such as reflected light 206. These window parameters may include, for example, a curvature, a thickness, a diffraction index, a material type, and / or the like.

[0275] The LIDAR processor may identify the presence and one or more window parameters of the detected window(s) 424 based on analysis of the signal data received from the sensor(s) and indicative of light reflected by the window(s) 424, i.e., light reflected from surfaces of the window(s) 424, not light reflected from objects beyond the window(s) 424 and transferred into the LIDAR system 400 via the window(s) 424. The LIDAR processor may use one or more methods, algorithms, and / or computations as known in the art to identify presence of one or more windows 424 and their window parameters. For example, the LIDAR processor may identify presence of windows 424 and their parameters based on analysis of the signal data generated by the sensor(s) in response to reflections of light 404 emitted by the LIAR system 400 reflected by the window(s) 424. For example, based on analysis of the signal data, the LIDAR processor may determine the curvature of the window(s) 424, for example, based onan intensity of the reflected light compared to the intensity of the projected light which may be indicative of the level of light reflected by the window(s) 424 and / or the level of light transmitted through the window(s) 424. In another example, the LIDAR processor may determine the thickness of the window(s) 424 based on analysis of the signal data, for example, based on losses in light reflected and received by the sensor(s). In another example, the LIDAR processor may determine the curvature of one or more window portions (sections) of the window(s) 424 based on comparison of the reflections of a plurality of projected light beams 404 projected towards the window(s) 424 at adjacent projection angles, for example, intensity difference, difference in loss of energy, and / or the like which may be indicative of the presence of window(s) 424 and one or more of their window parameters.

[0276] In particular, when mapping windows 424, i.e., identifying presence of windows 424 and determining their window parameters, the LIDAR processor may control the light source(s) 412 to project low energy light such that the light beam(s) 404, projected for mapping downstream window(s) 424, may have a limited range not exceeding distance of the window(s) 424 from the light source(s) 412. Limiting the energy of these mapping light beam(s) may prevent reflections from further away objects such that reflected light detected by the sensor(s) may be reflected by the window(s) 424 themselves and not by objects beyond the window(s) 424. Receiving only light reflected by the window(s) 424 themselves may increase accuracy, reliability and / or confidence of the analysis made based on these reflections to identify the window(s) 424 and their window parameters.

[0277] In some embodiments, for example, in case the LIDAR system 400 is a flash LIDAR in which light may be simultaneously projected toward the entire FOV 420 and hence toward the entire surface of the window(s) 424 associated with the entire FOV 420, the process 1300 may be executed once (or more for increased reliability). However, in case of the LIDAR system 400 employs line scanning, flying spot scanning, and / or the like, at this step (1310), the LIDAR processor may identify presence and parameters of the window(s) 424 in the projection angle of the one or more light beams 404 projected toward the FOV 420 as described in step 1306.

[0278] As shown at 1312, the process 1300 may be an iterative process which may be repeated for a plurality of light beams 404 projected by the LIDAR system 400 at a plurality of different projection angles to detect presence and parameters of the window(s) 424 since the window parameters may depend on the projection angle. In particular, the process 1300 may be iteratively repeated for LIDAR systems 400 which employ line scanning, flying spot scanningand / or the like in which, the light beams 404 are sequentially projected at different projection angles during a scan cycle.

[0279] In such LIDAR system 400, after proj ecting the light beam(s) 404 at one or more certain projection angles, the LIDAR processor may branch back to repeat the process 1300, specifically steps 1306, 1308, and 1310 for one or more additional light beams projected at other projection angles. This LIDAR processor may repeat the process 1300 until determining presence and window parameters of the window(s) 424 across an angular extent corresponding to the entire FOV 420 and / or part thereof.

[0280] As shown at 1314, after determining presence and parameters of the window(s) 424 across the surface of the window(s) 424 across the entire angular extent corresponding to the FOV 420, the LIDAR processor may map this surface of the window(s) 424, for example, generate one or more records, for example, a table, a list, a file, a model, and / or the like mapping each projection angle (toward the FOV 420) with the window parameters determined for the respective projection angle.

[0281] The record(s) mapping the window parameters for each projection angle may be then output, and / or stored for use during object detection operation of or more LIDAR systems such as the LIDAR system 400 associated with similar window(s) 424. For example, the mapping record(s) may be used by the LIDAR system 400 during the process 300 in which projection parameters may be dynamically adjusted for the projected light beams 404, in real-time, according to the mapped window parameters to compensate for energy losses induced by the window(s) 424, specifically by interaction of the projected light beams 404 with the window(s) 424.

[0282] The foregoing description has been presented for purposes of illustration. It is not exhaustive and is not limited to the precise forms or embodiments disclosed. Modifications and adaptations will be apparent to those skilled in the art from consideration of the specification and practice of the disclosed embodiments.

[0283] Moreover, aspects of the present disclosure may be embodied as a system, method, and / or computer program product. As such, aspects of the disclosed embodiments may be provided in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination thereof.

[0284] Additionally, although aspects of the disclosed embodiments are described as being stored in memory, one skilled in the art will appreciate that these aspects can also be stored on other types of computer readable media, such as secondary storage devices, for example, harddisks or CD ROM, or other forms of RAM or ROM, USB media, DVD, Blu-ray, or other optical drive media.

[0285] Computer programs and computer programs products based on the written description and disclosed methods are within the skill of an experienced developer. The various programs or program modules can be created using any of the techniques known to one skilled in the art or can be designed in connection with existing software. For example, program sections or program modules can be designed in or by means of .Net Framework, .Net Compact Framework (and related languages, such as Visual Basic, C, etc.), Java, C++, Objective-C, HTML, HTML / AJAX combinations, or HTML with included Java applets.

[0286] Moreover, while illustrative embodiments have been described herein, the scope of any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of aspects across various embodiments), adaptations and / or alterations as would be appreciated by those skilled in the art based on the present disclosure.

[0287] It is expected that during the life of a patent maturing from this application many relevant systems, methods and computer programs will be developed and the scope of the terms LIDAR systems, light projection technologies, light sensing technologies, scanning mechanisms, and polarization means are intended to include all such new technologies a priori.

[0288] The terms "comprise", "comprising", "include", "including", “having” and their conjugates mean "including but not limited to". These terms encompass the terms "consisting of' and "consisting essentially of' which mean that the composition or method may include additional ingredients and / or steps if the additional elements and / or steps do not materially alter the novel characteristics of the claimed composition or method.

[0289] As used herein the term “about” refers to ± 5 %.

[0290] Throughout this disclosure, various embodiments may be presented in a range format. Description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be construed to include all the possible subranges as well as individual numerical values within that range.

[0291] It is appreciated that certain features of embodiments disclosed herein, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Also, features described in combination in the context of a single embodiment may also be provided separately or in suitable sub-combinations in other embodiments described herein.

[0292] Publications, patents, and patent applications referred to in this disclosure are to be incorporated into the specification in their entirety by reference as if each individual publication, patent, or patent application was specifically and individually included in the disclosure. However, indication and / or identification of any such referenced document may not be construed as admission that the referenced document is available as prior art to embodiments disclosed hereon.

[0293] The limitations in the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application. The examples are to be construed as non-exclusive. Furthermore, the steps of the disclosed methods may be modified in any manner, including by reordering steps and / or inserting or deleting steps. It is intended, therefore, that the specification and examples be considered as illustrative only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.

Claims

WHAT IS CLAIMED IS:

1. A LIDAR system, comprising: at least one light source configured to emit at least one light beam for scanning a field of view (FOV) of the LIDAR system, wherein the at least one light beam is directed toward the FOV at a plurality of projection angles via at least one window such that the at least one light beam is incident on the at least one window at a plurality of different angles of incidence; and at least one processor configured for: dynamically adjusting at least one projection parameter of the at least one light beam according to the angle of incidence of the at least one light beam on the at least one window to compensate for loss of energy of the at least one light beam due to interaction of the at least one light beam with the at least one window.

2. The LIDAR system of claim 1, wherein the at least one processor is further configured to adjust the at least one projection parameter of the at least one light beam to control energy of the at least one light beam according to at least one window parameter of a window portion upon which the at least one light beam is incident, the at least one window parameter is a member of a group comprising: curvature, thickness, diffraction index, and material type.

3. The LIDAR system of any one of the previous claims, wherein the at least one projection parameter is adjusted to compensate for loss of energy of the at least one light beam in order to ensure that the energy of the at least one light beam downstream from the at least one window exceeds a certain energy threshold.

4. The LIDAR system of any one of the previous claims, further comprising at least one sensor configured to receive at least some light of the at least one light beam reflected by at least one object in the FOV, wherein the at least one projection parameter is adjusted according to the angle of incidence of the at least one reflected light beam on the at least one window to compensate for loss of energy of the at least one reflected light beam due to interaction of the at least one reflected light beam with the at least one window.

5. The LIDAR system of any one of the previous claims, wherein the LIDAR system employs time of flight (ToF) technology in which the at least one light beam is projected as a plurality of light pulses, the at least one projection parameter of such a ToF LIDAR system is a member of a group comprising: a pulse amplitude (intensity), a pulse width, a number of pulses, a pulse sequence pattern, a wavelength, and a polarization of at least one of the plurality of light pulses.

6. The LIDAR system of any one of the previous claims, wherein the LIDAR system employs continuous wave (CW) technology in which the at least one light beam is projected as a continuous wave light signal for scanning the FOV, the at least one projection parameter of such a CW LIDAR system is a member of a group comprising: a duration of time of illuminating each of a plurality of portions of the FOV, an amplitude (intensity), a wavelength, and a polarization of the continuous wave light signal.

7. The LIDAR system of any one of the previous claims, wherein the LIDAR system comprises at least one deflector configured to deflect the at least one light beam toward each of a plurality of portions of the FOV.

8. The LIDAR system of claim 7, wherein the at least one projection parameter comprises at least one scanning parameter of a scanning pattern of the at least one deflector, the at least one scanning parameter is a member of a group comprising: scan speed, scan time, and scan frequency.

9. The LIDAR system of any one of claims 7 to 8, wherein the angle of incidence of the at least one light beam on the at least one window at any given time is determined based on an instantaneous positioning of the at least one deflector with respect to the FOV.

10. The LIDAR system of anyone of claims 7 to 9, further comprising adjusting the at least one projection parameter to compensate for loss of energy of the at least one light beam due to partial deflection of the at least one light beam toward the FOV at a perimeter of the at least one deflector.

11. The LIDAR system of any one of the previous claims, wherein the LIDAR system comprises a plurality of light sources each configured to emit light for scanning at least oneof a plurality of portions of the FOV.

12. The LIDAR system of claim 11, wherein the angle of incidence of the at least one light beam on the at least one window at any given time is determined based on positioning of each of the plurality of light sources with respect to the FOV at the respective time.

13. The LIDAR system of any one of claims 11 to 12, further comprising the plurality of light sources are arranged according to a varying distribution defining increased density of peripheral light sources configured to emit light having increased angle of incidence on the at least one window and reduced density of central light sources configured to emit light having reduced angle of incidence on the at least one window.

14. The LIDAR system of any one of the previous claims, wherein the at least one processor is further configured to adjust the at least one projection parameter of at least one light beam having a cross-section incident on a window portion of the at least one window having a varying curvature based on an aggregated energy loss computed for a plurality of angles of incidence of the at least one light beam on the varying curvature window portion.

15. The LIDAR system of any one of the previous claims, wherein the at least one processor is further configured to adjust the at least one projection parameter of the at least one light beam to compensate for loss of energy of the at least one light beam due to partial transmission of the at least one light beam toward the FOV which is partially blocked by a non-transmitting section of the at least one window.

16. The LIDAR system of any one of the previous claims, wherein the at least one processor is further configured to adjust the at least one projection parameter of the at least one light beam to control energy of the at least one light beam according to a scanned portion of the plurality of portions of FOV defining the angle of incidence of the at least one light beam on the at least one window.

17. The LIDAR system of any one of the previous claims, wherein the at least one processor is further configured to automatically identify at least one window parameter of the at least one window which potentially affects the interaction of the at least one light beam with the at least one window, the at least one parameter is a member of a group comprising:curvature, thickness, diffraction index, and material type.

18. The LIDAR system of claim 17, wherein the at least one processor identifies the at least one parameters of the at least one window based on scanning the at least one window with light emitted by the at least one light source and detecting reflections of the emitted light reflected by the at least one window.

19. The LIDAR system of claim 18, wherein the light emitted by the at least one light source for scanning the at least one window has an intensity not exceeding a certain threshold.

20. A method of adjusting parameters of light projected by a LIDAR system to compensate for energy losses, comprising: using at least one processor of the LIDAR system for: operating at least one light source of the LIDAR system to emit at least one light beam for scanning at least part of a field of view (FOV) of the LIDAR system at a plurality of projection angles, the at least one light beam is directed toward the FOV via at least one window such that the at least one light beam is incident on the at least one window at a plurality of different angles of incidence; and dynamically adjusting at least one projection parameter of the at least one light beam according to the angle of incidence of the at least one light beam on the at least one window to compensate for loss of energy of the at least one light beam due to interaction of the at least one light beam with the at least one window.

Images