Elevation-Prioritized Lidar Shot Scheduling
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Solution Overview
Problem
Lidar systems face challenges in operating with low latency and rapid adaptation to environmental changes, particularly in automotive applications where high-speed movement requires rapid decision-making, and the laser source's energy management is critical to prevent overheating and ensure reliable operation.
Innovation Solution
A transient laser energy model and transient mirror motion model are used to predict and manage the energy available in the laser source and the scanning mirror's motion over short time intervals, allowing for precise scheduling of laser pulses to ensure sufficient energy and accurate targeting, even during high-density firing periods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the firing rate for the lidar transmitter is increased to rapidly respond to detected objects, then the responsiveness and decision-making capability are improved, but the laser source will experience overheating and energy depletion
Solution Approach 1:
The system performs preliminary actions by scheduling laser pulses in advance based on predicted mirror motion and energy availability. The controller determines optimal pulse timing before high-density firing periods occur, pre-positioning the laser source to fire at critical moments when objects are detected, thereby avoiding overheating while maintaining high responsiveness
Solution Approach 2:
The system dynamically adjusts the laser firing rate and pulse timing based on real-time conditions. The controller modifies the schedule of laser pulses according to detected objects, mirror position, and energy availability, transitioning between high-density firing modes and lower-density recovery modes to prevent overheating while maintaining operational flexibility
2Loss of time
If the laser source fires at high density to achieve low latency response, then the temporal resolution is improved, but the energy management becomes difficult and overheating occurs
Solution Approach 1:
The system implements feedback mechanisms where the controller continuously monitors energy availability and mirror motion predictions. Based on this feedback, the controller adjusts the scheduling of laser pulses to ensure sufficient energy is available for each pulse while maintaining low latency response, preventing overheating through real-time energy management
Solution Approach 2:
The controller performs preliminary scheduling of laser pulses based on predicted mirror motion and energy availability curves. By pre-determining optimal pulse timing before high-density firing periods, the system ensures low latency response while managing energy consumption and preventing overheating through advance planning
3Adaptability or versatility
If the firing rate is varied to adapt to environmental changes, then the adaptability is improved, but the laser source operational capabilities are stressed during both high and low density periods
Solution Approach 1:
The system dynamically adjusts laser firing parameters based on detected environmental conditions and object locations. The controller modifies pulse timing, density, and scheduling in real-time to adapt to changing scenarios while maintaining reliable laser source operation by preventing both overheating during high-density periods and energy depletion during variable-rate operation
Solution Approach 2:
The controller performs preliminary scheduling of laser pulses based on predicted mirror motion and energy availability before adaptive firing sequences are executed. This advance planning ensures that the laser source operates reliably during variable-rate periods by pre-positioning energy delivery timing to avoid operational stress while maintaining adaptability to environmental changes
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables lidar systems to operate at low latency with high frame rates and precise spatial targeting, ensuring reliable energy delivery and preventing overheating, thereby enhancing their responsiveness and accuracy in dynamic environments.
Implementation Method 1
The lidar transmitter may employ a laser source that uses optical amplification to support the generation of laser pulses
Implementation Method 2
a mirror subsystem that scans the laser pulses across a field of view
Data Source
AI summary
A lidar system that includes a laser source can be controlled to schedule the firing of laser pulse shots at range points in a field of view. As part of this scheduling, the system can prioritize which elevations will be targeted with shots before other elevations based on defined criteria. Examples of such criteria can include prioritizing elevations corresponding to a horizon, prioritizing elevations which contain objects of interest (e.g., nearby objects, fast moving objects, objects heading toward the lidar system, etc).