Lidar Scanning Mirror Rate Control for Imaging
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Solution Overview
Problem
Existing LIDAR systems for autonomous vehicles face challenges in simultaneously achieving accurate distance measurements and imaging without increasing fabrication costs or weight, as they typically require additional imaging channels like cameras or sensors.
Innovation Solution
A LIDAR system that operates in both distance point-cloud measurement and imaging modes using the same sensor array, where the scanning mirror rotates at different rates to collect distance information and images, allowing for additional information acquisition without interrupting standard LIDAR operation and without the need for additional cameras or sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional imaging channels (cameras or two-dimensional sensors) are included in the LIDAR housing to simultaneously acquire images of the surroundings, then imaging capability is improved, but fabrication costs and weight increase
Solution Approach 1:
The patent makes the LIDAR sensor array perform dual functions: it collects light for both traditional time-of-flight distance measurements and for imaging during mirror reset periods. By utilizing the same sensor array for both purposes, the system gains imaging capability without adding separate cameras or sensors, thereby avoiding increased weight and fabrication costs
Solution Approach 2:
The patent combines the imaging function with the existing LIDAR measurement function by using the same optical path and sensor array. The imaging channel is integrated into the existing LIDAR housing and utilizes the same hardware components, merging multiple functions into a single unified system rather than adding separate independent systems
2Adaptability or versatility
If additional imaging channels (cameras or two-dimensional sensors) are included in the LIDAR housing to simultaneously acquire images of the surroundings, then imaging capability is improved, but fabrication costs increase
Solution Approach 1:
The patent makes the LIDAR sensor array perform dual functions: it collects light for both traditional time-of-flight distance measurements and for imaging during mirror reset periods. By utilizing the same sensor array for both purposes, the system gains imaging capability without adding separate cameras or sensors, thereby avoiding increased weight and fabrication costs
Solution Approach 2:
The patent combines the imaging function with the existing LIDAR measurement function by using the same optical path and sensor array. The imaging channel is integrated into the existing LIDAR housing and utilizes the same hardware components, merging multiple functions into a single unified system rather than adding separate independent systems
3Speed
If the scanning mirror rotates at a higher rate during reset to acquire images, then image acquisition speed is improved, but the time available for LIDAR measurements may be reduced
Solution Approach 1:
The patent employs periodic scanning where the mirror alternates between slow scanning for LIDAR measurements and fast scanning for image acquisition. During normal operation, the mirror scans slowly to collect distance data; during brief reset periods between scan lines, the mirror rapidly scans back while acquiring image data. This periodic alternation ensures that LIDAR measurement productivity is maintained while enabling image acquisition during otherwise idle time
Solution Approach 2:
The patent ensures continuous useful action by utilizing the mirror reset time - previously idle time - for image acquisition. Instead of leaving the mirror stationary during reset, the system makes productive use of this period by acquiring images, thereby converting non-productive time into useful imaging time without interfering with the primary LIDAR measurement function
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
Enables the acquisition of images while resetting the scanning mirror, providing additional information about the surroundings without increasing the system's weight or cost, while maintaining standard LIDAR operation efficiency.
Implementation Method 1
sensing, by a sensor array of the LIDAR, incident light on the scanning mirror reflected to the sensor array
Implementation Method 2
determining a distance-information point cloud based on light collected by the sensor array while the scanning mirror is rotating
Data Source
AI summary
A method for managing scanning by a LIDAR system, the method being performed by a controller. The method includes controlling a scanning mirror to scan a plurality of light beams outward from the LIDAR system, the plurality of light beams being created by a light source of the system, causing the scanning mirror to rotate at a first rate in a first rotational direction, and causing the scanning mirror to rotate at a second rate in a second rotational direction, the second rate being greater than the first rate; sensing, by a sensor array of the LIDAR, incident light on the scanning mirror reflected to the sensor array; determining a distance-information point cloud while the scanning mirror is in the first direction; and determining an image of a scanned area surrounding the LIDAR system while the scanning mirror is rotating in the second direction.