LiDAR Beam Characterization Using Robotic Positioning

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing LiDAR sensors in autonomous vehicles face challenges in testing and validating the performance of individual channels due to their multiple channels transmitting and receiving beams in different directions, making it difficult to assess range capability and accuracy effectively.

Innovation Solution

A system is developed that couples LiDAR sensors with a positioning device, such as a robotic arm or gimbal, controlled by a controller to position each LiDAR beam parallel to a horizontal axis and direct it to a target, allowing for beam-by-beam characterization and measurement of parameters like range capability and accuracy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If LiDAR sensors use multiple channels to transmit and receive beams in different directions simultaneously, then the coverage area and detection capability are improved, but the difficulty of testing and validating individual channel performance increases

Engineering Contradiction:

Improvedetection capabilityVSAvoidchannel performance validation

Core Design Contradiction:

Adaptability or versatilityVSDifficulty of detecting and measuring

Solution Approach 1:

The patent segments the multi-channel LiDAR testing process by isolating each channel's beam for individual characterization. The positioning device moves the target to capture reflections from specific channels separately, allowing independent measurement of range capability and accuracy for each channel despite the sensor having multiple simultaneous beams.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces a positioning device as an intermediary between the LiDAR sensor and target. This mediator precisely positions a retroreflective target to enable controlled capture of beam reflections from individual channels, facilitating accurate measurement of channel-specific performance parameters.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Area of stationary object

If LiDAR sensors transmit multiple beams in different directions, then the field of view and object detection coverage are improved, but the precision of measuring individual beam parameters deteriorates

Engineering Contradiction:

Improvefield of viewVSAvoidbeam parameter measurement

Core Design Contradiction:

Area of stationary objectVSMeasurement precision

Solution Approach 1:

The patent applies preliminary action by pre-positioning the retroreflective target at specific locations and orientations before each measurement. The positioning device carefully places the target to ensure optimal alignment for capturing reflections from individual channels, ensuring precise measurement of beam parameters before data collection begins.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent replaces manual alignment and positioning methods with an automated positioning device that uses controlled mechanical movement to precisely position the target. This substitution enables accurate and repeatable positioning, improving measurement precision for individual beam parameters while maintaining the multi-beam field of view capability.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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

This approach enables precise testing and characterization of each LiDAR channel, ensuring that the LiDAR sensor meets the necessary performance thresholds for autonomous vehicle operations, such as identifying objects at required distances in a timely manner.

Implementation Method 1

obtaining a first beam measurement associated with the first LiDAR beam based on a first reflection corresponding to transmission of the first LiDAR beam

Methodology Applied

Scientific EffectLight reflection: Reflection

Implementation Method 2

Light Ranging and Detection (LiDAR) sensor can be used to determine ranges (variable distance) of one or more targets by directing a laser to a surface of an entity

Methodology Applied

Scientific EffectLight ranging and detection (LiDAR): LIDAR

Data Source

PatentUS20240219536A1Light ranging and detection (LIDAR) beam-by-beam characterization

Publication Date: 2024.07.04 GM CRUISE HOLDINGS LLC

AI summary

Systems and techniques are provided for characterizing LiDAR sensors. An example method includes positioning a LiDAR device at a first position for directing a first LiDAR beam to a target, wherein the first position is based on a first elevation angle corresponding to the first LiDAR beam; obtaining a first beam measurement associated with the first LiDAR beam based on a first reflection corresponding to transmission of the first LiDAR beam using the first position; positioning the LiDAR device at a second position for directing a second LiDAR beam to the target, wherein the second position is based on a second elevation angle corresponding to the second LiDAR beam; obtaining a second beam measurement associated with the second LiDAR beam based on a second reflection corresponding to transmission of the second LiDAR beam using the second position.