Lidar Scan Rate Control via Vertical Swipe Timing
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Solution Overview
Problem
Lidar devices face challenges in maintaining a constant scan rate due to variations in resonant frequency caused by temperature changes and manufacturing tolerances, making it difficult to synchronize with other sensors and integrate into multi-sensor systems without adjusting scan patterns or vertical fields of view.
Innovation Solution
A method and system for controlling a lidar device to scan at a constant rate by determining a horizontal scan period, vertical swipe duration, and dead time based on the horizontal scan period and target frame duration, allowing synchronization with other sensors without altering the scan pattern or vertical field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the lidar device operates without scan rate control, then the device can function with simple hardware, but the scan rate varies due to resonant frequency changes, making synchronization with other sensors difficult
Solution Approach 1:
The patent implements a feedback control system that continuously monitors the actual scan rate of the lidar device and adjusts the vertical swipe duration to maintain the target scan rate. The controller receives feedback about the actual horizontal scan period and modifies the vertical sweep duration accordingly, creating a closed-loop system that compensates for resonant frequency variations without requiring complex hardware changes
Solution Approach 2:
The patent changes the vertical swipe duration parameter dynamically based on the actual horizontal scan period. By adjusting this timing parameter in response to measured scan rate variations, the system maintains consistent frame rates despite changes in resonant frequency caused by temperature or manufacturing tolerances
2Reliability
If the lidar device adjusts scan patterns or vertical fields of view to compensate for resonant frequency variations, then scan rate consistency can be maintained, but the field of view and scan pattern are altered
Solution Approach 1:
The patent separates the control of horizontal scanning and vertical sweeping into independent, controllable segments. The horizontal scan operates at its natural resonant frequency while the vertical swipe duration is independently adjusted to compensate for variations. This segmentation allows the system to maintain field of view consistency while achieving scan rate control through vertical timing adjustments alone
Data Source
AI summary
Methods and systems for controlling a lidar device are disclosed. One example method includes determining a horizontal scan period PH for a lidar device. The method further includes determining a vertical swipe duration Ds for the lidar device based on (i) the horizontal scan period PH and (ii) a target frame duration Df for the lidar device. The method further includes determining a dead time Dd for the lidar device based on the vertical swipe duration Ds, the horizontal scan period PH, and the target frame duration Df. The method further includes controlling the lidar device to scan an environment according to the vertical swipe duration Ds and the dead time Dd.