Vehicle-Integrated LIDAR Dynamic Scanning for Boundary Detection
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Solution Overview
Problem
Conventional laser range finders, such as LIDAR, have limited angular resolution due to their sequential measurement approach, which restricts the number of range measurements per second and is insufficient for detailed object boundary identification, especially in dynamic environments like autonomous vehicles.
Innovation Solution
A dynamically steerable LIDAR system that non-uniformly scans a field of view based on laser steering parameters formulated from sensor data, allowing for increased laser pulse density in important regions and adaptive scanning to improve object boundary detection and classification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a LIDAR scans a field of view in a uniform deterministic manner, then the scanning pattern is simple and predictable, but the angular resolution is poor and insufficient for detailed object boundary identification
Solution Approach 1:
The patent applies dynamics by transitioning from a static, uniform scanning pattern to a dynamic, adaptive scanning pattern. The LIDAR system continuously adjusts its scanning parameters (angular resolution, scan density, scan direction) based on real-time environmental data and detected objects, allowing the scanning behavior to evolve and adapt to changing conditions rather than following a predetermined fixed pattern
Solution Approach 2:
The patent implements local quality by applying different scanning densities to different regions of the field of view. Important regions containing object boundaries or relevant features receive higher scan density and better angular resolution, while less important regions use lower density scanning, thereby optimizing measurement precision where needed without uniformly increasing system complexity across the entire FOV
2Productivity
If a LIDAR rotates at high speed to increase measurements per second, then productivity increases, but angular resolution deteriorates due to reduced dwell time per direction
Solution Approach 1:
The system applies different dwell times to different angular positions based on their importance. Regions containing object boundaries or features of interest receive extended dwell time with multiple measurements, while less important regions are scanned more quickly, allowing the system to maintain high overall productivity while achieving high angular resolution where needed
Solution Approach 2:
The LIDAR dynamically adjusts its rotational speed and dwell time at each angular position based on real-time feedback from detected objects and features. Rather than rotating at a constant speed, the system slows down to collect multiple measurements at critical angular positions and speeds up through less important regions, optimizing both productivity and measurement precision adaptively
3Adaptability or versatility
If a LIDAR uses fixed angular velocity in a rotating mechanism, then the mechanical design is simple, but rapid direction reversals and changes are precluded
Solution Approach 1:
The patent replaces fixed angular velocity with dynamic angular velocity control that can rapidly change direction and speed. The LIDAR system uses feedback from object detection to dynamically adjust scanning parameters, enabling rapid direction reversals and adaptive changes in scan patterns that respond to real-time environmental conditions rather than following a predetermined mechanical rotation schedule
Solution Approach 2:
The system implements feedback control where detection data from the environment is used to dynamically adjust scanning parameters. The LIDAR receives feedback about object locations, boundaries, and features, then uses this information to modify its angular velocity and scanning direction in real-time, enabling rapid adaptation without requiring complex mechanical reconfiguration
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
Enhances object boundary localization and detection accuracy by dynamically adjusting laser pulse density and scanning patterns based on real-time sensor data, improving the ability to identify and classify objects in complex environments.
Implementation Method 1
measure the time of flight (TOF)
Implementation Method 2
one or more steerable lasers that non-uniformly scans a FOV based on laser steering parameters
Data Source
AI summary
Mounting a LIDAR above or external to a vehicle can enhance the LIDAR field of view but can conflict with vehicle aesthetics and ergonomics. Within embodiments, vehicle-integrated systems for distributing laser beams around a vehicle to increase coverage with a low-profile laser range finder are disclosed. A LIDAR can be embedded beneath a roof or body panel of a vehicle as part of a laser distribution system including a set of reflectors and lenses operable to adapt the LIDAR field of view to the vehicle shape. The set of embedded reflectors can guide laser beams parallel (e.g. within the roof structure), to and from the set of lenses at the roof edge to transmit the guided laser into regions of the surrounding beyond the direct field of view of the LIDAR. In other embodiments a beam guide (e.g. including a headlight assembly) can enable a LIDAR to perform ranging from behind a vehicle body panel.