Embodiments of the disclosure provide for a LiDAR system. The LiDAR system may generate a first FOV that is large and has rough resolution and a second FOV that is smaller and has a finer resolution. For an area of importance, such as along the horizon where pedestrians, vehicles, or other objects may be located, the second FOV with the finer resolution may be used. Using fine resolution for the area of importance may achieve a higher-degree of accuracy/safety in terms of autonomous navigation decision-making than if coarse resolution is used. Because the use of fine resolution is limited to a relatively small area, a reasonably sized photodetector and laser power may still be used to generate a long distance, high-resolution point-cloud.
Embodiments of the disclosure provide for a LiDAR system. The LiDAR system may dynamically select a first FOV of a far-field environment to be scanned at a rough resolution and a second FOV including important information, as indicated based on object data from a previous scanning procedure, to be scanned at a fine resolution. For example, an area-of-interest, such as along the horizon where pedestrians, vehicles, or other objects may be located, may be scanned with the finer resolution. Using fine resolution for the area-of-interest may achieve a higher-degree of accuracy/safety in terms of autonomous navigation decision-making than if coarse resolution is used. Because the use of fine resolution is limited to a relatively small area, a reasonably sized photodetector and laser power may still be used to generate a long distance, high-resolution point-cloud.
Embodiments of the disclosure provide an optical sensing system, and an optical sensing method for the optical sensing system. The optical sensing system includes an integrated optical source and a receiver coupled to the integrated optical source. The integrated optical source includes a laser diode configured to emit optical signals, and a first diffraction grating unit configured to simultaneously tune wavelengths and directions of the emitted optical signals. The optical signals of different wavelengths are directed along different directions towards an environment surrounding the optical sensing system. The receiver is configured to receive at least a portion of the optical signals returned from the environment. The receiver includes a second diffracting grating unit configured to direct the received portion of optical signals with the different wavelengths along different directions towards a sensor array. The sensor array is configured to receive the optical signals of the different wavelengths at different positions of the sensor array.
Embodiments of the disclosure provide a scanner for steering optical beams. In certain configurations, the scanner may include a micro-electromechanical system (MEMS) scanning mirror independently rotatable around a first axis and a second axis orthogonal to the first axis. The scanner may further include a piezoelectric actuator coupled to the MEMS scanning mirror, where the piezoelectric actuator has a first pair of piezoelectric electrodes configured to drive the MEMS scanning mirror to rotate around the first axis, and a second pair of piezoelectric electrodes configured to drive the MEMS scanning mirror to simultaneously rotate around the second axis.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
An assembly for a light detection and ranging (LiDAR) system including a light source configured to provide a light beam; light collimator lens configured to collimate the light beam; an active thermal control element having an upper surface; a thermally conductive mechanical structure fixed to the upper surface of the active thermal control element thermal element, the mechanical structure being in thermal contact with the light source, the light collimator lens and the active thermal control element; a temperature sensor configured to detect the temperature of the light source; and a temperature controller configured to receive the detected temperature from the light source and in response control the temperature of the active thermal control element, which controls the temperatures of the light source and collimator lens to the same temperature via the thermally conductive mechanical structure.
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
H01L 35/30 - SEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR - Details thereof operating with Peltier or Seebeck effect only characterised by the heat-exchanging means at the junction
7.
TWO-AXIS SCANNING MIRROR USING PIEZOELECTRIC DRIVERS AND LOOPED TORSION SPRINGS
Embodiments of the disclosure provide a scanning mirror assembly. In certain configurations, the scanning mirror assembly may include a two-dimensional micro-electromechanical system (MEMS) scanning mirror, a first pair of piezoelectric electrodes coupled to the MEMS scanning mirror through a first pair of looped torsion springs, and a second pair of piezoelectric electrodes coupled to the MEMS scanning mirror through a second pair of looped torsion springs. The first pair of piezoelectric electrodes drives the MEMS scanning mirror to rotate around a first axis. The second pair of piezoelectric electrodes drives the MEMS scanning mirror to rotate around a second axis orthogonal to the first axis.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of the disclosure provide a scanning mirror assembly. In certain configurations, the scanning mirror assembly may include a two-dimensional micro-electromechanical system (MEMS) scanning mirror, a skeleton on a back surface of the MEMS scanning mirror, a first pair of piezoelectric electrodes coupled to the MEMS scanning mirror through a first pair of serpentine torsion springs, and a second pair of piezoelectric electrodes coupled to the MEMS scanning mirror through a second pair of serpentine torsion springs. The first pair of piezoelectric electrodes drives the MEMS scanning mirror and the skeleton to rotate around a first axis, and the second pair of piezoelectric electrodes drives the MEMS scanning mirror and the skeleton to rotate around a second axis orthogonal to the first axis.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Cautious driving and cautious driving speed determination for an autonomous vehicle is responsive to receiving a non-yield backup prediction for the vehicle regarding a traffic participant in a region of interest in a road network surrounding the vehicle, the non-yield backup prediction including a non-yield probability value for the traffic participant not yielding to the vehicle. Driving information, including speed, for other traffic participants within the region of interest is obtained from a sensor system, and an average speed of the other traffic participants is determined. A driving system determines a cautious driving speed for the vehicle by calculating a reverse probability value, which is a reverse percentage of the non-yield probability value relative to a maximum value for it, and multiplying the average speed of the other traffic participants by the reverse probability value. The driving system controls the vehicle to reduce its speed to the cautious driving speed.
Technologies disclosed relate to a remote intervention system for the operation of a vehicle, which can be an autonomous vehicle, a vehicle that includes driver assist features, a vehicle used for ride sharing services or the like. The system includes a vehicle sending a request for remote intervention to a remote operator when the operation of the vehicle is suspended. The request for remote intervention can include a request for object identification or a request for decision confirmation. The vehicle can update vehicle operation based in part on vehicle-based sensor data and a response to the remote intervention request from the remote operator. The remote operator can be a human operator or an AI operator.
Embodiments of the disclosure provide optical sensing systems, optical sensing methods, and integrated transmitter-receiver-scanner (TX-RX-scanner) modules. An exemplary optical sensing system includes an integrated TX-RX-scanner module and a printed circuit board coupled to the integrated TX-RX-scanner module. The integrated TX-RX-scanner module includes a plurality of optical components optically aligned with each other and a plurality of pins located on edges of the TX-RX-scanner module. The printed circuit board is separated from and connected to the integrated TX-RX-scanner module, and includes one or more serving electronic components connected to the optical components through the plurality of pins located on the edges of the integrated TX-RX-scanner module.
Embodiments of the disclosure include a mask apparatus used in an optical sensing system. The apparatus may include an optical encoding mask configured to facilitate a scanning procedure of the optical sensing system, wherein the scanning procedure comprises a plurality of scanning lines. The apparatus may further include an actuator coupled to the optical encoding mask and configured to generate a force to drive the optical encoding mask to resonate in a direction perpendicular to the scanning lines during the scanning procedure.
Embodiments of the disclosure provide for a scanner of an optical sensing system. The scanner may include a polygon scanning mirror with a plurality of facets each configured to steer a light beam towards an object during a scanning procedure. The scanner may include a driver configured to rotate the polygon scanning mirror in a horizontal plane during the scanning procedure. In some embodiments, each of the plurality of facets may be tilted at a different angle with respect to the horizontal plane.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
14.
Receiver with a Hadamard mask for improving detection resolution during a scanning procedure of an optical sensing system
Embodiments of the disclosure include a receiver of an optical sensing system. The receiver may include a Hadamard mask configured to resonate during a scanning procedure performed by the optical sensing system. The Hadamard mask may include a frame beginning pattern corresponding to a start of a frame captured during the scanning procedure. The Hadamard mask may also include a coded pattern configured to provide sub-pixelization of the frame. The receiver may also include a photodetector array positioned on a first side of the Hadamard mask. The photodetector array may be configured to detect light that passes through the Hadamard mask during the scanning procedure to generate the frame.
Embodiments of the disclosure include a receiver of an optical sensing system. The receiver may include a mask configured to resonate during a scanning procedure performed by the optical sensing system. The receiver may also include a photodetector array positioned on a first side of the mask. The photodetector array may be configured to detect light that passes through the mask during the scanning procedure to generate a frame. The receiver may further include a light collector array aligned with the photodetector array and configured to concentrate the light that passes through the mask during the scanning procedure before directing the light to the photodetector array.
Embodiments of the disclosure provide a micro shutter array, an optical sensing system, and an optical sensing method. The optical sensing system includes a laser emitter configured to sequentially emit a series of optical signals and a steering device configured to direct the series of optical signals in different directions towards an environment surrounding the optical sensing system. The optical sensing system further includes a receiver configured to receive the series of optical signals returning from the environment. The receiver includes a micro shutter array disposed in a light path of the returning optical signals and configured to sequentially open only a portion of the micro shutter array at a specified location at each time point, to allow the returned series of optical signals to sequentially pass through the micro shutter array. The receiver further includes a photodetector configured to receive the optical signals sequentially passed through the micro shutter array.
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
B81B 7/04 - Networks or arrays of similar microstructural devices
G02B 26/02 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the intensity of light
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
17.
LIDAR AND AMBIENCE SIGNAL SEPARATION AND DETECTION IN LIDAR RECEIVER
Embodiments of the disclosure provide a micro shutter array, an optical sensing system, and an optical sensing method. The optical sensing system includes a laser emitter configured to sequentially emit a series of laser beams and a steering device configured to direct the series of laser beams in different directions towards an environment surrounding the optical sensing system. The optical sensing system further includes a receiver configured to receive the series of laser beams at a plurality of time points returning from the environment. The receiver includes a micro shutter array configured to sequentially open a portion of the micro shutter array at a specified location at each time point, to allow the corresponding laser beam to pass through the micro shutter array at that time point and to reflect the ambient light by a remaining portion of the micro shutter array at that time point. The receiver further includes an image sensor configured to receive the ambient light reflected by the remaining portion of the micro shutter array.
Embodiments of the disclosure provide for a submount for a transmitter of an optical sensing system. The submount may include a substrate. The submount may also include a set of alignment fiducials formed using semiconductor lithography and coupled to the substrate. Still further, the submount may include at least one laser bar coupled to the substrate based on the set of alignment fiducials.
Embodiments of the disclosure provide an optical sensing system containing a diffractive optical element, and an optical sensing method using the same. For example, the optical sensing system includes a laser emitter configured to emit an optical signal. The optical sensing system further includes a steering device configured to direct the emitted optical signal toward an environment surrounding the optical sensing system. The optical sensing system additionally includes a diffractive optical element configured to diffract the optical signal returning from the environment to form a plurality of beams focusing at a plurality of spots on a focal plane. The optical sensing system additionally includes a photosensor array placed at the focal plane, configured to detect the plurality of beams diffracted by the diffractive optical element at the plurality of spots, wherein the photosensor array comprises a plurality of sensitive elements.
Embodiments of the disclosure provide a receiver of an optical sensing system, and an optical sensing method. The receiver includes a micro shutter array configured to sequentially receive a series of laser beams returned from an environment at a plurality of time points. The micro shutter array sequentially opens a portion of the micro shutter array at a specified location at each time point, to allow a respective laser beam to pass through the micro shutter array at that time point and to reflect the ambient light by a remaining portion of the micro shutter array at that time point. The receiver further includes a photodetector configured to detect the laser beam that passes through the micro shutter array at each time point to obtain point cloud data and an image sensor configured to receive the ambient light reflected by the remaining portion of the micro shutter array to obtain image data. The receiver also includes a controller configured to fuse the point cloud data obtained from the photodetector with the image data obtained from the image sensor.
Embodiments of the disclosure provide a micro shutter array, and an optical signal filtering method. The micro shutter array is used for filtering a series of optical signals at a plurality of time points. The optical signal at each time point includes a laser beam. The micro shutter array includes a plurality of micro shutter elements arranged in an array and a driver. The driver is configured to sequentially open a subset of the micro shutter elements at a specified location at each time point to allow a respective laser beam to pass through the micro shutter array at that time point.
A vehicle can include an on-board data processing system that receives sensor data captured by various sensors of the vehicle. As a vehicle travels along a route, the on-board data processing system can process the captured sensor data to identify a potential vehicle stop. The on-board data processing system can then identify geographical coordinates of the location at which the potential vehicle stop occurred, use artificial intelligence to classify a situation of the vehicle at the potential stop, and determine whether the stop was caused by a road obstacle, such as a speed bump, a gutter, an unmarked crosswalk, or any other obstacle not at an intersection. If the stop was caused by the road obstacle, the on-board data processing system can generate virtual stop or yield line data corresponding to the identified geographic coordinates and transmit this data to a server over a network for processing.
Embodiments of the disclosure provide a packaged micro-mirror for an optical sensing system. In some embodiments, the packaged micro-mirror may include a package substrate. In some embodiments, the packaged micro-mirror may include a micro-mirror die attached to the package substrate through a first die attach material and a second die attach material. In some embodiments, the first die attach material may have a first Young’s modulus and the second die attach material may have a second Young’s modulus higher than the first Young’s modulus. In some embodiments, at least one of the first die attach material or the second die attach material may be a conductive adhesive forming an electrical connection between the micro-mirror die and package substrate.
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of the disclosure provide a micromachined mirror assembly for controlling optical directions in an optical sensing system. The micromachined mirror assembly may include a micro mirror configured to direct an optical signal into a plurality of directions. The micromachined mirror assembly may also include at least one actuator coupled to the micro mirror and configured to drive the micro mirror to tilt around an axis. The micromachined mirror assembly may further include one or more objects attached to the micro mirror. The one or more objects may be asymmetrically disposed with respect to the axis to create an imbalanced state of the micro mirror when the micro mirror is not driven by the at least one actuator.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of the disclosure provide a system for controlling an emission of laser beams using a plurality of scanning patterns by an optical sensing device. The plurality of scanning patterns interleavingly cover a field of view of the optical sensing device. The system includes a controller that is configured to detect an object within a functional distance range from the optical sensing device based on a reflected first laser beam received by the optical sensing device. The first laser beam is emitted towards a first scanning point in a first scanning pattern. The controller is also configured to determine an aperture extending from the first scanning point, and control the optical sensing device to emit a second laser beam towards a second scanning point in a second scanning pattern and skip the scanning points between the first scanning point and the second scanning point in the aperture.
Embodiments of the disclosure provide an optical sensing system for two-dimensional (2D) environmental sensing, an optical sensing method for the optical sensing system, and a transmitter. The optical sensing system includes a tunable laser source configured to emit optical signals with varying wavelengths. The optical sensing system further includes a one-dimensional (1D) grating scanner configured to rotate around a rotational axis to scan the optical signals with the varying wavelengths in a first dimension towards an environment surrounding the optical sensing system. The 1D grating scanner includes a grating structure configured to scan the optical signals with the varying wavelengths along different directions in a second dimension towards the environment at each rotation angle. The optical sensing system additionally includes a receiver configured to receive at least a portion of the optical signals with the varying wavelengths reflected from the environment.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/34 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
27.
CORRECTION OF LIGHT DISTRIBUTION FOR LIDAR WITH DETECTOR ARRAY
Embodiments of the disclosure provide an optical sensing system containing a conical lens pair, and an optical sensing method using the same. For example, the optical sensing system includes a transmitter configured to emit an optical signal toward an environment surrounding the optical sensing system. The transmitter includes a laser emitter configured to emit the optical signal, a beam shaper configured to receive the optical signal emitted by the laser emitter and redistribute a light intensity of the received optical signal away from a center of the optical signal, and a steering device configured to receive the redistributed optical signal output from the beam shaper and direct the redistributed optical signal toward the environment. The optical sensing system further includes a receiver configured to receive the optical signal returning from the environment.
Embodiments of the disclosure provide a transmitter containing an omni-view peripheral scanning system, an omni-view peripheral scanning system, and an optical sensing method. The optical sensing system includes an optical source configured to sequentially emit optical signals. The optical sensing system further includes an omni-view peripheral scanning system configured to receive the optical signals and sequentially direct the optical signals towards an environment following a peripheral scanning pattern. The peripheral scanning system may include a scanning mirror and a top reflector. Each optical signal may pass through the top reflector towards the scanning mirror, where the scanning mirror is configured to reflect the optical signal back onto the top reflector following a spiral pattern and the top reflector is configured to direct the optical signal towards the environment. The optical sensing system further includes a receiver configured to receive at least a portion of the optical signals reflected from the environment.
Embodiments of the disclosure provide an optical sensing device for a receiver in an optical sensing system. The optical sensing device includes a light concentrator configured to collect a light beam. The light concentrator includes an input aperture configured to collect the light beam, an output aperture configured to output the light beam, and a side surface in contact with the input aperture and the output aperture. The side surface is configured to reflect the collected light beam towards the output aperture. The optical sensing device also includes a photodetector placed behind the light concentrator. The photodetector is configured to receive the light beam collected through the output aperture and convert the light beam to an electrical current.
Embodiments of the disclosure provide a method for forming an optical sensing device for a receiver in an optical sensing system. According to the method, a light concentrator is formed in a carrier wafer. The carrier wafer is bonded with a detector wafer. The detector wafer has a photodetector such that the light concentrator aligns with and covers the photodetector. A portion of the carrier wafer is removed to expose the light concentrator and the photodetector.
H01L 31/0232 - Optical elements or arrangements associated with the device
H01L 31/107 - Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier or surface barrier the potential barrier working in avalanche mode, e.g. avalanche photodiode
H01L 31/18 - Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
Embodiments of the disclosure provide a system for controlling an emission of laser beams by an optical sensing device. The system includes a controller configured to detect an object within a field of view based on a laser beam reflected by the object and received by the optical sensing device. The laser beam is emitted at a current scanning point according to a first laser emission scheme. The controller is also configured to determine a distance of the object from the optical sensing device. The controller is further configured to, in response to the distance being within a functional distance range, control the optical sensing device to emit laser beams according to a second laser emission scheme towards an aperture extending from the current scanning point. The second laser emission scheme reduces a number of scanning points in the aperture compared to the first laser emission scheme.
In some examples, an apparatus is provided. The apparatus comprises: an illuminator having an adjustable field of view (FOV), the FOV being adjusted based on setting a direction of propagation of light to illuminate the FOV; a light detector; and a controller configured to: control the illuminator to project the light along a first direction of propagation to illuminate a first FOV; control the illuminator to project the light along a second direction of propagation to illuminate a second FOV; detect, using the light detector, reflected light received from the first FOV and the second FOV to generate one or more detection outputs for a combined FOV including the first FOV and the second FOV; and perform at least one of a detection operation or a ranging operation of an object in the combined FOV based on the one or more detection outputs.
Embodiments of the disclosure include a method of scanning mirror assembly for an optical sensing system. The method may include bonding a first wafer that includes a handle to a second wafer that includes a scanning mirror layer and etching the first wafer to release the handle. The method may further include bonding a third wafer that includes an actuator layer to the second wafer, and etching the third wafer to form a first set of actuator features and a second set of actuator features from the actuator layer. The method may also include etching the second wafer to release the scanning mirror layer.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
B81B 3/00 - Devices comprising flexible or deformable elements, e.g. comprising elastic tongues or membranes
G01S 17/08 - Systems determining position data of a target for measuring distance only
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
34.
Resonant frequency tuning of micromachined mirror assembly
Embodiments of the disclosure provide a micromachined mirror assembly. The micromachined mirror assembly includes a micro mirror configured to tilt around an axis and a first and a second torsion beam each having a first and a second end. The second end of the first torsion beam and the second end of the second torsion beam are mechanically coupled to the micro mirror along the axis. The micromachined mirror assembly also includes a first DC voltage applied to the first end of the first torsion beam and a second DC voltage, different from the first DC voltage, is applied to the first end of the second torsion beam.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
G01S 17/88 - Lidar systems, specially adapted for specific applications
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
35.
ACOUSTO-OPTICAL BEAM DEFLECTING UNIT FOR LIGHT DETECTION AND RANGING (LIDAR)
Embodiments of the disclosure provide receivers for light detection and ranging (LiDAR). In an example, a receiver includes an acousto-optical (AO) beam deflecting unit configured to receive an input laser beam and a controller configured to cause an acoustic signal to be applied to the AO beam deflecting unit to deflect the input laser beam for a deflection angle and form an output laser beam towards a beam sensor. The deflection angle between the input and the output laser beams is nonzero.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/48 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group
A microelectromechanical system MEMS structure is described. A first actuator is attached to a substrate and configured to rotate the substrate along a first axis of rotation. An array of rotatable MEMS mirrors is mounted on the substrate, aligned parallel to the first axis of rotation. Each rotatable MEMS mirror is rotatable about a second axis of rotation with each second axis of rotation being perpendicular to the first axis of rotation and parallel to every other axis of rotation. An array of second actuators is configured to rotate each of the rotatable MEMS mirrors about its corresponding second axis of rotation. A controller is configured to control the first actuator to rotate the substrate about the first axis of rotation. The controller further controls the array of second actuators to rotate each rotatable MEMS mirror of the array of rotatable MEMS mirrors about its corresponding second axis of rotation.
B81B 5/00 - Devices comprising elements which are movable in relation to each other, e.g. comprising slidable or rotatable elements
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
An excess heat-generating element is coupled to a heat sink through a heat conduction path. A thermal switch is mounted in the heat conduction path. A temperature-sensitive element is coupled to the heat conduction path on a same side of the thermal switch as the excess heat-generating element. A temperature monitor is mounted adjacent the temperature-sensitive element. A temperature controller has an input coupled to the temperature output of the temperature monitor and an output control line coupled to an input of the thermal switch. The temperature controller switches off the thermal switch, in response to detecting a temperature below a temperature threshold from the temperature output. When the thermal switch it off, it impedes heat flow from the excess heat-generating element to the heat sink, and the heat flow is redirected to increase heat flow from the excess heat-generating element to the heat-sensitive element.
Embodiments of the disclosure provide magnetic sensing systems and methods for a galvanometer scanner configured to rotate within a predetermined angular range. An exemplary magnetic sensing system includes a disc permanent magnet configured to provide a magnetic field. The magnetic sensing system further includes a Hall sensor configured to generate a voltage proportional to the strength of the magnetic field as the Hall sensor and the disc permanent magnet move relatively to each other when the galvanometer scanner rotates. One of the disc permanent magnet and the Hall sensor locates on and rotates with the galvanometer scanner and the other locates off the galvanometer scanner. The magnetic sensing system also includes at least one controller configured to determine a rotation angle of the galvanometer scanner based on the generated voltage by the Hall Sensor.
G01D 5/14 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
A photodetector is made sufficiently large to receive an entire designed field of view (e.g., for a LiDAR system). At least one lens is mounted to direct reflected laser beams to the photodetector. A plurality of electrodes (e.g., 16, 32 or 64) are coupled to the photodetector, each electrode corresponding to a different pixel position. A processor is coupled to the plurality of electrodes and the processor is configured to detect a pixel position of a reflected laser beam by detecting which electrode produces the largest digital signal.
A LiDAR system may include an optical component module including a housing including a plurality of slots and a plurality of posts. A first spring may be coupled to a first post at a first radial orientation so that the first spring extends into a first slot of the plurality of slots. A second identical spring may be coupled to a second post in a second radial orientation, different than the first radial orientation, so that the second spring extends into a second slot of the plurality of slots. A first optical component may be positioned in the first slot so that the first spring exerts a first clamping force retaining the first optical component within the first slot, and a second optical component may be positioned in the second slot so that the second spring exerts a second clamping force retaining the second optical component within the second slot.
Embodiments of the disclosure provide magnetic sensing systems and methods for a polygon scanner. An exemplary magnetic sensing system includes a disc permanent magnet configured to provide a magnetic field. The magnetic sensing system further includes a Hall sensor configured to generate a voltage proportional to the strength of the magnetic field as the Hall sensor and the disc permanent magnet move relatively to each other when the polygon mirror rotates. One of the disc permanent magnet and the Hall sensor locates on and rotates with the polygon mirror and the other locates off the polygon mirror. The magnetic sensing system also includes at least one controller configured to determine a rotation angle of the polygon mirror based on the generated voltage by the Hall Sensor.
Embodiments of the disclosure include a scanning mirror assembly for an optical sensing system. The scanning mirror assembly may include a scanning mirror formed in a first layer of the scanning mirror assembly. The scanning mirror assembly may also include a MEMS actuator formed in a second layer of the scanning mirror assembly, where the first layer is a predetermined distance above the second layer. The MEMS actuator may also include a plurality of stator actuator features and a plurality of rotatable actuator features formed from a same semiconductor layer during a fabrication process.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
B81B 3/00 - Devices comprising flexible or deformable elements, e.g. comprising elastic tongues or membranes
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/08 - Systems determining position data of a target for measuring distance only
43.
REDUNDANCY STRUCTURE FOR AUTONOMOUS DRIVING SYSTEM
The present disclosure provides a system of a redundancy structure for an autonomous driving system. The system may comprise an acquisition sub-system, a power supply sub-system and a processing sub-system connecting the acquisition sub-system. The acquisition sub-system may include at least one primary acquisition device and at least one backup acquisition device. The power supply sub-system may include a primary power supply device configured to power the at least one primary acquisition device and a first portion of the at least one backup acquisition device, and a backup power supply device configured to power the at least one primary acquisition device and a second portion of the at least one backup acquisition device. The processing sub-system may include a primary processing device, and a backup processing device that serves as a backup device of at least a part of the primary processing device.
B60W 50/023 - Avoiding failures by using redundant parts
B60W 10/18 - Conjoint control of vehicle sub-units of different type or different function including control of braking systems
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60R 16/033 - Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric for supply of electrical power to vehicle subsystems characterised by the use of electrical cells or batteries
44.
PHOTOCURRENT NOISE SUPPRESSION FOR MIRROR ASSEMBLY
In one example, an apparatus comprises a semiconductor integrated circuit, the semiconductor integrated circuit including a microelectromechanical system (MEMS) device layer and a silicon substrate, the MEMS layer including at least one micro-mirror assembly, the at least one micro-mirror assembly including a micro-mirror and electrodes. The at least one micro-mirror assembly further includes a light reduction layer formed below a surface of the silicon substrate. A method of fabricating the semiconductor integrated circuit is also provided.
B81B 3/00 - Devices comprising flexible or deformable elements, e.g. comprising elastic tongues or membranes
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
B81C 1/00 - Manufacture or treatment of devices or systems in or on a substrate
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
45.
SYSTEM AND METHOD FOR DESIGNING A SCANNING MIRROR ASSEMBLY WITH AN OPTIMIZED FREQUENCY BANDWIDTH BASED ON SPRING CONSTANT INFORMATION
Embodiments of the disclosure provide a method for designing an optical scanning mirror. The method may include receiving an initial set of design parameters for the scanning mirror assembly. The method may also include simulating first scanning mirror oscillation based on the initial set of design parameters to compute an initial non-linear spring constant associated with at least one spring of the scanning mirror assembly. The method may further include adjusting the set of design parameters for the scanning mirror assembly based on a comparison between the initial non-linear spring constant and a target non-linear spring constant. The method may also include outputting the at least one structural alteration to be implemented on the at least one spring. In certain aspects, the initial set of design parameters and the adjusted set of design parameters may be associated with a same mirror oscillation frequency and linear spring constant.
B81C 99/00 - Subject matter not provided for in other groups of this subclass
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of the disclosure provide an optical sensing system for two-dimensional (2D) environmental sensing and an optical sensing method for the optical sensing system. The optical sensing system includes a rotary base and a one-dimensional (1D) optical sensing apparatus supported by the rotary base. The 1D optical sensing apparatus includes an optical source configured to emit optical signals, a 1D MEMS scanner configured to direct the optical signals towards an environment surrounding the optical sensing system, and a receiver configured to receive at least a portion of the optical signals reflected from the environment. The rotary base is configured to drive the 1D optical sensing apparatus to rotate around a first axis to scan the optical signals in a first dimension and the 1D MEMS scanner is configured to independently rotate around a second axis to scan the optical signals in a second dimension in the 2D environmental sensing.
Aligning a detection or transmission module with an optical lens assembly on a chassis in a LiDAR system may include a transparent mounting block, for example a glass transparent mounting block. A first portion of adhesive may be applied between the transparent mounting block and the chassis, and a second portion of adhesive may be between the transparent mounting block and the detection or transmission module. Prior to curing the portions of adhesive, the detection and/or transmission module may be optically aligned with the optical lens assembly so that a path of a laser beam emitted from a laser module of the transmission module is oriented with an optical path in the optical lens assembly to a detection sensor of the detection module. The transparent mounting block allows for visual inspection of the cured first and second portions of adhesive through the transparent mounting block.
Apparatus and methods for reducing inter symbol interference from reflected laser pulses that are received close in time. A laser is provided to emit a laser beam pulse. A photodetector is mounted to receive a reflected laser beam pulse after reflecting off an object in an external environment, and produce a voltage signal corresponding to the reflected laser beam pulse. The voltage signal is provided to a delay path circuit having a delay line and a gain control circuit to provide a delayed, reduced amplitude voltage signal. The delayed, reduced amplitude voltage signal is subtracted from the voltage signal in a subtraction circuit to produce a truncated pulse. The output of the subtraction circuit is provided to a pulse detector circuit to detect the arrival time of the leading edge of the truncated pulse.
Embodiments of the disclosure provide a scanning mirror assembly for an optical sensing system. The scanning mirror assembly may include a scanning mirror configured to rotate around an axis of rotation. The scanning mirror assembly may further include a plurality of torsion springs coupled to at least one side of the scanning mirror along the axis of rotation. In certain aspects, the plurality of torsion springs may collectively have a non-linear spring constant and a linear spring constant. In certain other aspects, a ratio of the non-linear spring constant over the linear spring constant may meet a predetermined threshold.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Systems and methods for managing a compromised autonomous vehicle server are described herein. A processor may obtain an indication of a first server configured to control an autonomous vehicle being compromised. The autonomous vehicle may have previously been provisioned with a first public key. The first public key may be paired with a first private key. A processor may compile command information. The command information may include a command for the autonomous vehicle and a digital certificate of a second server configured to control the autonomous vehicle in the event of the first server being compromised. The digital certificate may include a second public key and may be signed with the first private key. The command may be signed with a second private key associated with the second server. The second private key may be paired with the second public key.
H04L 9/32 - Arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
Apparatus and methods for determining the distance to an object by detecting a reflected light beam. A light emitter emits a light beam. An optical fiber is mounted to direct the light beam as an output light beam of the optical fiber. An actuator is coupled proximate a distal end of the optical fiber, for moving the distal end of the optical fiber in a desired pattern. Collimation optics are mounted to intercept the output light beam of the optical fiber and collimate the output light beam of the optical fiber. A photodetector is mounted to receive a reflected light beam after reflecting off an object in an external environment. A control system determines a distance to the object based on an elapsed time between emission of the light beam and a detection of the reflected light beam by the photodetector.
Embodiments of the disclosure provide magnetic sensing systems and methods for a scanning mirror. An exemplary magnetic sensing system includes a permanent magnet configured to provide a magnetic field. The magnetic sensing system further includes a wire coil configured to rotate relative to the permanent magnet when the scanning mirror rotates, causing an induced voltage in the wire coil. One of the permanent magnet and the wire coil locates on and rotates with the scanning mirror and the other locates off the scanning mirror. The magnetic sensing system also includes at least one controller configured to determine a rotation angle of the scanning mirror based on the induced voltage in the wire coil.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
53.
System and method for designing MEMS mirror based on computed oscillation frequency
A method for designing an optical scanning mirror is provided. The method may include receiving, by a communication interface, a set of design parameters of the scanning mirror. The method may also include simulating scanning mirror oscillation, by at least one processor, based on the set of design parameters using a computer model. In certain aspects, the computer model may include a lookup table that correlates electrostatic force applied to a sample scanning mirror and angular displacement in the sample scanning mirror caused by the electrostatic force. The method may further include generating, by the at least one processor, mirror oscillation data as an output of the computer model for designing the scanning mirror. The mirror oscillation data may include a correlation of drive frequency, angular displacement, and time.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/483 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group - Details of pulse systems
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
The present disclosure relates to a method for determining a pose of a subject. The method may include identifying a plurality of sets of data points representing a plurality of cross sections of a path from point-cloud data representative of a surrounding environment, wherein the plurality of cross sections may be perpendicular to the ground surface and distributed along a first reference direction associated with the subject. The method may also include determining a feature vector of the at least one curb based on the plurality of sets of data points, determining at least one reference feature vector of the at least one curb based on an estimated pose of the subject and a location information database, and determining the pose of the subject by updating the estimated pose of the subject.
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
Embodiments of the disclosure provide a scanner for steering optical beams. In certain configurations, the scanner may include a scanning mirror independently rotatable around a first axis and a second axis. In certain other configurations, the scanner may also include a first driver configured to drive the scanning mirror to rotate around the first axis. In still other configurations, the scanner may further include a second driver configured to drive the scanning mirror to simultaneously rotate around the second axis. In certain aspects, the first driver and the second driver may be different types of drivers.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
Methods and systems for using a MEMS mirror for steering a LiDAR beam and for minimizing statically emitted light from a LiDAR system are disclosed. A LiDAR system includes a light source that emits a light beam directed at a MEMS device. The MEMS device includes a manipulable mirror that reflects the emitted light beam in a scanning pattern. The MEMS device also includes a substrate positioned adjacent to and at least partially surrounding the mirror. An attenuation layer is disposed on a top surface of the substrate and is configured to attenuate light reflected by the substrate.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 1/16 - Optical coatings produced by application to, or surface treatment of, optical elements having an anti-static effect, e.g. electrically conducting coatings
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
58.
SYSTEMS AND METHODS FOR CONTROLLING LASER POWER IN LIGHT DETECTION AND RANGING (LIDAR) SYSTEMS
Embodiments of the disclosure provide a system for controlling laser pulses emitted by an optical sensing device. The system may include a laser emitter configured to emit a plurality of laser pulses, a power source configured to deliver electrical currents to the laser emitter, and a control circuit configured to deliver electrical currents from the power source to the laser emitter. The control circuit may include a first control path configured to deliver a first electrical current rising at a first rate from the power source to the laser emitter to emit a first laser pulse. The control circuit may also include a second control path configured to deliver a second electrical current rising at a second rate from the power source to the laser emitter to emit a second laser pulse following the first laser pulse. The second rate may be higher than the first rate.
H01S 5/062 - Arrangements for controlling the laser output parameters, e.g. by operating on the active medium by varying the potential of the electrodes
In one example, a Light Detection and Ranging (LiDAR) module is provided. The LiDAR module comprises a semiconductor integrated circuit comprising a micro-electromechanical system (MEMS) formed on a surface of a silicon substrate, and a controller, the MEMS comprising a polygon assembly, the polygon assembly comprising: a polygon; a support structure connected to the polygon and forming a stack with the polygon along a rotation axis; a plurality of anchors formed on the surface of the substrate; and a plurality of actuators, each actuator of the plurality of actuators being connected between the support structure and an anchor of the plurality of actuators. The controller is configured apply a voltage across each actuator of the plurality of actuators, wherein the voltage causes each actuator to exert a torque on the support structure to rotate the polygon around the rotation axis by a target rotation angle.
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 26/12 - Scanning systems using multifaceted mirrors
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
60.
Method of fabricating solid-state light steering system
In one example, a method of fabricating a polygon assembly of a Light Detection and Ranging (LiDAR) module is provided. The method comprises: forming, on a backside surface of a first silicon-on-insulator (SOI) substrate, a multi-facet polygon of the polygon assembly; forming, on a frontside surface of the first SOI substrate, an axial portion of a support structure of the polygon assembly, the axial portion forming a stack with the polygon along a rotation axis; forming, on a frontside surface of a second SOI substrate, a plurality of radial portions of the support structure; forming, on a backside surface of the second SOI substrate, a cavity that encircles the plurality of radial portions; and bonding, based on a wafer bonding operation, the axial portion to the plurality of radial portions to form the polygon assembly.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
61.
Scanning flash lidar with liquid crystal on silicon light modulator
Embodiments of the disclosure provide a liquid crystal on silicon (LCOS) light modulator, an optical sensing system, and an optical sensing method. The optical sensing system includes a transmitter configured to emit an optical signal toward an environment surrounding the optical sensing system, and a receiver configured to receive the optical signal returning from the environment. The receiver further includes the LCOS light modulator and a receiving lens. The LCOS light modulator is configured to spatially modulate a polarization of the optical signal in order to allow only a spatially-selected portion of the optical signal to pass through the LCOS light modulator at one time. The receiving lens is configured to focus the spatially-selected portion of the optical signal received from the LCOS light modulator on a photodetector of the receiver.
G02F 1/13 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
H04N 9/31 - Projection devices for colour picture display
G02F 1/1335 - Structural association of cells with optical devices, e.g. polarisers or reflectors
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
62.
System and method for emitting light using a photonics waveguide with grating switches
Embodiments of the disclosure provide an emitter array for an optical sensing system. The emitter array may include a waveguide including a plurality of waveguide branches. The emitter array may also include a plurality of grating switches positioned along each of the plurality of waveguide branches and configured to selectively turn on or off the corresponding waveguide branch for transmitting light. In certain aspects, a grating switch may include an upper grating structure configured to couple to a waveguide branch when the grating switch is activated to allow the light to emit from the waveguide branch.
Embodiments of the disclosure provide a collimating scanner for an optical sensing system, a method for fabricating the collimating scanner, and a transmitter that includes the collimating scanner. An exemplary collimating scanner may include a scanning mirror configured to steer a light beam towards an object. The collimating scanner may also include a Fresnel zone plate profile patterned on the scanning mirror configured to collimate the light beam. The disclosed collimating scanner eliminates the use a separate collimating lens and thus improves the form factor of the optical sensing system.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A micro-electromechanical system (MEMS) apparatus has an array of micro-mirrors and a control circuit for rotating the micro-mirrors synchronously at a resonant frequency. The MEMS apparatus includes elements with different Coefficients of Thermal Expansion (CTE) for a die substrate coupled to the array of micro-mirrors, a die attach layer, a chip package coupled to the die substrate and a printed circuit board coupled to the chip package. The apparatus provides mechanisms for reducing changes in the resonant frequency due to changes in temperature causing stresses due to a mismatch between the CTE of the different elements. A thermoelectric cooler is used, along with the optional addition of heating resistors, additional pins to distribute stress, and the widened vias allowing room for the pins to bend and relieve stress on the chip package.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A micro-electromechanical system (MEMS) apparatus has an array of micro-mirrors and a control circuit for rotating the micro-mirrors synchronously at a resonant frequency. An array of heating resistors is used to heat the array of micro-mirrors compensate for changes in resonant frequency with temperature. A temperature sensor is mounted proximate the chip package for detecting a temperature proximate the array of micro-mirrors. A temperature control circuit, coupled to the temperature sensor and the array of heating resistors, provides current to the array of heating resistors in response to a change in temperature that will change the resonant frequency.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of a variable system for simulating the operation of an autonomous system, such as an autonomous vehicle, are disclosed. A layered approach for defining variables can allow changing the specification of those variables under the rules of override and refinement, while leaving the software components that query those variables at runtime unaffected. The variable system can facilitate, among others, deterministic sampling of variables, simulation variations, noise injection, and realistic message timing. These applications can make the simulator more expressive and more powerful by virtue of being able to test the same scenario under many different conditions. As a result, more exhaustive testing can be performed without requiring user intervention and without having to change the individual software components of the simulator.
Embodiments of the disclosure provide a transmitter containing a Risley prism-based scanning mechanism, an optical sensing system containing the same, and an optical sensing method using the same. For example, the optical sensing system includes a laser emitter configured to sequentially emit a series of optical signals. The optical sensing system further includes a plurality of prisms configured to receive the series of optical signals and sequentially direct the series of optical signals at different directions in an angle of view of the optical sensing system. At least one prism of the plurality of prisms is configured to rotate relative to at least one other prism of the plurality of prisms to refract the optical signals towards the respective different directions. The optical sensing system additionally includes a receiver configured to receive at least a portion of the series of optical signals reflected from an environment surrounding the optical sensing system.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
68.
MEMS ACTUATED ALVAREZ LENS FOR TUNABLE BEAM SPOT SIZE IN LIDAR
Embodiments of the disclosure provide a transmitter containing a tunable collimation lens, an optical sensing system containing the same, and an optical sensing method using the same. For example, the optical sensing system includes an optical source configured to emit optical signals. The optical sensing system further includes a tunable collimation lens configured to dynamically collimate the optical signals emitted by the optical source to varying divergences. The optical sensing system additionally includes a steering device configured to steer the tuned optical signals output from the tunable collimation lens toward an environment surrounding the optical sensing system. The optical sensing system additionally includes a receiver configured to receive the optical signals returning from the environment.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/09 - Beam shaping, e.g. changing the cross-sectioned area, not otherwise provided for
Embodiments of the disclosure provide a transmitter containing a divergence adjustment device, and an optical sensing method using the same. For example, the optical sensing method includes emitting, by an optical source of an optical sensing system, optical signals. The optical sensing method further includes dynamically collimating, by a tunable collimation lens of the optical sensing system, the emitted optical signals to varying divergences. The method additionally includes steering, by a steering device of the optical sensing system, the tuned optical signals toward an environment surrounding the optical sensing system. The method additionally includes receiving, by a receiver of the optical sensing system, the optical signals returning from the environment.
A method and mechanism for reducing changes in the resonant frequency of a MEMS mirror structure with temperature by reducing the bending of the structure due to CTE mismatches. A plurality of support pins are attached to the chip package for adding rigidity to the chip package. The added rigidity minimizes bending due to changes in temperature that cause stresses and bending due to differences in the CTE of the MEMS micro-mirror array substrate, the die attach bonding layer, the chip package and the PCB. Also, a plurality of vias provide bending space for a plurality of pins attached to the chip package. Thus, as the chip package expands or contracts with temperature, the pins move with the chip package, minimizing stresses that would affect the resonant frequency of the MEMS micro-mirror array.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
Embodiments of the disclosure provide a transmitter, an optical sensing system, and an optical sensing method. An exemplary optical sensing system includes an optical source configured to emit optical signals. The optical sensing system further includes a scanner configured to steer the optical signals towards an environment surrounding the optical sensing system at a plurality of scanning angles. A surface curvature of the scanner is adaptively adjusted to change a divergence of the optical signals at the respective scanning angles. The optical sensing system additionally includes a receiver configured to receive the optical signals returning from the environment.
Embodiments of a variable system for simulating the operation of an autonomous system, such as an autonomous vehicle, are disclosed. A layered approach for defining variables can allow changing the specification of those variables under the rules of override and refinement, while leaving the software components that query those variables at runtime unaffected. The variable system can facilitate, among others, deterministic sampling of variables, simulation variations, noise injection, and realistic message timing. These applications can make the simulator more expressive and more powerful by virtue of being able to test the same scenario under many different conditions. As a result, more exhaustive testing can be performed without requiring user intervention and without having to change the individual software components of the simulator.
G06F 30/20 - Design optimisation, verification or simulation
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
G06F 30/15 - Vehicle, aircraft or watercraft design
G06F 111/00 - ELECTRIC DIGITAL DATA PROCESSING - Details relating to CAD techniques
G06F 30/28 - Design optimisation, verification or simulation using fluid dynamics, e.g. using Navier-Stokes equations or computational fluid dynamics [CFD]
G06F 119/22 - Yield analysis or yield optimisation
G06F 30/27 - Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
G06F 30/25 - Design optimisation, verification or simulation using particle-based methods
73.
SYSTEMS AND METHODS FOR AUTOMATIC LABELING OF OBJECTS IN 3D POINT CLOUDS
Embodiments of the disclosure provide methods and systems for labeling an object in point clouds. The system may include a storage medium configured to store a sequence of plural sets of 3D point cloud data acquired by one or more sensors associated with a vehicle. The system may further include one or more processors configured to receive two sets of 3D point cloud data that each includes a label of the object. The two sets of data are not adjacent to each other in the sequence. The processors may be further configured to determine, based at least partially upon the difference between the labels of the object in the two sets of 3D point cloud data, an estimated label of the object in one or more sets of 3D point cloud data in the sequence that are acquired between the two sets of the 3D point cloud data.
G06V 20/70 - Labelling scene content, e.g. deriving syntactic or semantic representations
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
G06T 7/70 - Determining position or orientation of objects or cameras
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
A laser package is mounted on the printed circuit board. At least one thermal via extends through the printed circuit board, coupled to the laser package. A thermal bridge is coupled to the at least one thermal via on the bottom of the printed circuit board. A thermal paste connects the thermal bridge to a conductive ground plane on the bottom of the printed circuit board, and to a mechanical housing.
H05K 3/34 - Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
H01S 5/02315 - Support members, e.g. bases or carriers
A tunable optical filter provides a narrow passband centered around the wavelength of the laser beam to limit ambient light noise impinging on a primary photodetector. As the wavelength changes due to temperature or other effects, the wavelength is indirectly measured and used to shift the passband of the filter to center it on the shifted wavelength. A portion of the emitted beam is diverted through the same tunable filter to a feedback photodetector. The output of the feedback photodetector will be at a maximum value when the tunable filter passband is centered on the laser beam wavelength. By controlling the passband of the tunable filter to maximize the feedback photodetector output, the passband remains centered on the laser wavelength. The tunable filter is a Liquid Crystal Tunable Filter (LCTF) or another tunable filter large enough to pass both reflected and feedback light to the primary and feedback photodetectors.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4861 - Circuits for detection, sampling, integration or read-out
G01S 7/4913 - Circuits for detection, sampling, integration or read-out
G02F 1/13 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour based on liquid crystals, e.g. single liquid crystal display cells
G02F 1/21 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulating; Non-linear optics for the control of the intensity, phase, polarisation or colour by interference
Embodiments of the disclosure provide an optical sensing system, an integrated transmitter module for the optical sensing system, and an optical sensing method performed using the optical sensing system. The exemplary optical sensing system includes an integrated transmitter module configured to emit an optical signal into an environment surrounding the optical sensing system. The integrated transmitter module includes a laser emitter, one or more driving integrated circuits, and one or more optics integrated into a chamber that is hermetically sealed. The optical sensing system further includes a photodetector configured to receive the optical signal reflected from the environment and convert the received optical signal to an electrical signal. The optical sensing system additionally includes a readout circuit configured to convert the electrical signal to a digital signal. The photodetector and the readout circuit are located outside the chamber enclosing the integrated transmitter module.
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
H01S 5/183 - Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities having only vertical cavities, e.g. vertical cavity surface-emitting lasers [VCSEL]
H01S 5/40 - Arrangement of two or more semiconductor lasers, not provided for in groups
81.
ROTATION ANGLE SENSING AND CONTROL OF MIRROR ASSEMBLY FOR LIGHT STEERING
In one example, a light detection and ranging (LiDAR) module is provided. The LiDAR module includes a microelectromechanical system (MEMS), a substrate on which the MEMS is formed, and one or more measurement circuits. The MEMS includes an array of micro-mirror assemblies. One or more micro-mirror assemblies of the array of micro-mirror assemblies further includes a measurement structure connected to the micro-mirror, an electrical resistance of the measurement structure being variable based on a rotation angle of the micro-mirror. The one or more measurement circuits are configured to: determine the electrical resistance of the measurement structure of the one or more micro-mirror assemblies; and provide the determined electrical resistance to enable measurement of a rotation angle of the micro-mirror of the one or more micro-mirror assemblies.
G01S 17/08 - Systems determining position data of a target for measuring distance only
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
82.
ADJUSTABLE IRIS FOR LIDAR SYSTEM USING MEMS ROTARY BLADES
Embodiments of the disclosure provide an optical sensing system, a method for adjusting a receiving aperture in the optical sensing system, and an adjustable iris in the optical sensing system. The exemplary optical sensing system includes a transmitter configured to emit light beams to an environment. The optical sensing system further includes a receiver configured to receive the light beams returning from the environment. The receiver includes an adjustable iris including a plurality of rotary blades each driven by a MEMS actuator. The plurality of rotary blades collectively form an adjustable receiving aperture for the returned light beams to pass through. The plurality of rotary blades are configured to rotate in order to vary the adjustable receiving aperture during operation of the optical sensing system. The optical sensing system also includes a detector configured to detect the light beams that pass through the adjustable iris.
An apparatus for detecting an incoming laser beam with a photodetector is described. A beam splitter is mounted to receive the incoming laser beam after correction by a wavefront corrector. The beam splitter directs most of the incoming laser beam to the photodetector, but diverts a small portion of the incoming laser beam to a wavefront sensor. A feedback control circuit is configured to control the wavefront corrector to at least partially correct for wavefront distortions detected by the wavefront sensor.
The present disclosure relates to a system and a method for calibrating an inertial measurement unit (IMU) and a camera of an autonomous vehicle. The system may perform the method to: obtain a track of the autonomous vehicle traveling straight; determine an IMU pose of the IMU relative to a first coordinate system; determine a camera pose of the camera relative to a second coordinate system; determine a relative coordinate pose between the first coordinate system and the second coordinate system; and determine a relative pose between the camera and the IMU based on the IMU pose, the camera pose, and the relative coordinate pose.
Embodiments of the disclosure provide a micro shutter array, an optical sensing system, and an optical sensing method. The optical sensing system includes a transmitter configured to emit an optical signal toward an environment surrounding the optical sensing system, and a receiver configured to receive the optical signal returning from the environment. The receiver further includes a condenser lens, a receiving lens, and a micro shutter array disposed between the condenser lens and the receiving lens. The condenser lens is configured to collimate the optical signal returning from the environment. The micro shutter array is configured to allow only a spatially-selected portion of the optical signal to pass through the micro shutter array at one time. The receiving lens is configured to receive and focus the spatially-selected portion of the optical signal on a photodetector of the receiver.
The present disclosure provides a system and method for driving mode switching in autonomous driving. The method may include obtaining status information of a vehicle system, the status information including a current driving mode of the vehicle system; obtaining at least one mode switching condition, each of the at least one mode switching condition corresponding to a candidate driving mode that triggers switching the vehicle system from the current driving mode to the candidate driving mode; determining that the status information of the vehicle system satisfies one of the at least one mode switching condition; designating a candidate driving mode corresponding to the one of the at least one mode switching condition as a target driving mode; switching the current driving mode into the target driving mode.
The present disclosure relates to a system and a method for calibrating and a camera and a LIDAR of an autonomous vehicle. The system may perform the method to: obtain a first projection of a target object from the camera when the autonomous vehicle is at a first distance from the target object; obtain 3D data of the target object from the LIDAR when the autonomous vehicle is at a second distance from the target object, wherein the first distance is greater than the second distance; determine a second projection of the target object based on the 3D data, wherein the second projection is an estimated projection of the target object when the autonomous vehicle is at the first distance from the target object; and determine a first relative pose of the camera relative to the LIDAR based on the first projection and the second projection.
G01S 7/48 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
88.
SYSTEMS AND METHODS FOR POSITIONING A TARGET SUBJECT
The present disclosure relates to systems and methods for determining a target position of a target subject. The method may include determining, via a positioning device, an initial position of a target subject in real-time. The method may also include determining, via a data capturing device, first data indicative of a first environment associated with the initial position of the target subject and determining a first map based on the first data indicative of the first environment. The first map may include reference feature information of at least one reference object with respect to the first environment. The method may also include determining a target position of the target subject based on the initial position, the first map, and a second map in real-time. The second map may include second data indicative of a second environment corresponding to an area including the initial position of the target subject.
The present disclosure relates to systems and methods for determining a target position of a target subject. The method may include determining an initial position of a target subject in real-time. The method may also include determining a plurality of images indicative of a first environment associated with the initial position of the target subject. Further, the method may include determining a first map based on the plurality of images. The first map may include first map data indicative of the first environment associated with the initial position of the target subject. The method may also include determining a target position of the target subject based on the initial position, the first map, and a second map in real-time. The second map may include second map data indicative of a second environment corresponding to an area including the initial position of the target subject.
Embodiments of the disclosure provide optical sensing systems, optical sensing methods, and integrated transmitter/receiver (TX/RX) modules. An exemplary optical sensing system includes an integrated TX/RX module and a controller coupled to the integrated TX/RX module. The integrated TX/RX module includes a laser emitter, one or more optics, and a receiver frontend. The laser emitter is configured to emit an optical signal toward the one or more optics. The one or more optics are configured to form the optical signal received from the laser emitter into a predefined shape and direct the optical signal having the predefined shape to an environment surrounding the optical sensing system. The receiver frontend is configured to receive a returned optical signal from the environment and convert the returned optical signal into an electrical signal. The laser emitter, the one or more optics, and the receiver frontend are assembled in a single package.
Embodiments of the disclosure provide an interface module for a LiDAR assembly. The interface module includes a printed circuit board (PCB) and a first connector interface disposed on the PCB. The first connector interface is configured to be connectable to a laser emitter of the LiDAR assembly. The interface module further includes a second connector interface disposed on the PCB and a third connector interface disposed on the PCB. The second connector interface is configured to be connectable to a receiver of the LiDAR assembly and the third connector interface is configured to be connectable to a control module configured to control the operation of the laser emitter and the receiver. The interface module also includes a bracket where the PCB is affixed to. The interface module is positioned to a lateral face of the LiDAR assembly through the bracket.
A grating for a steering mirror of a LiDAR system is made without a metal coating. The grating comprising a plurality of ridges defined by a period. The period has a width that is equal to or less than a wavelength of a laser of the LiDAR system. The ridges can be made of crystalline silicon to form a high-contrast grating.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
93.
Rotation angle sensing and control of mirror assembly for light steering
In one example, a semiconductor integrated circuit is provided. The semiconductor integrated circuit includes a microelectromechanical system (MEMS), a substrate on which the MEMS is formed, and a controller, the MEMS including one or more micro-mirror assemblies, each micro-mirror assembly including: a micro-mirror comprising a first connection structure and a second connection structure, the first connection structure being connected to the substrate at a first pivot point, the second connection structure being connected to the substrate at a second pivot point; an actuator configured to rotate the micro-mirror; and a measurement circuit configured to measure an electrical resistance of at least one of the first connection structure or the second connection structure. The controller is configured to control the actuator of each of the one or more micro-mirror assemblies based on the electrical resistance measurements from the measurement circuits.
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
Embodiments of the disclosure provide a LiDAR assembly with modularized components. The LiDAR assembly includes an integrated transmitter-receiver module assembled on a first bracket, configured to emit optical signals to an environment surrounding the LiDAR assembly and detect returned optical signals from the environment. The LiDAR assembly also includes a control module affixed on a PCB, configured to control the integrated transmitter-receiver module to emit the optical signals. The LiDAR assembly further includes an interface module affixed on a second bracket, configured to operatively couple the integrated transmitter-receiver module and the control module. The LiDAR assembly yet further includes a frame configured to position the integrated transmitter-receiver module, the control module, and the interface module at predetermined positions of the LiDAR assembly through the first bracket, the PCB, and the second bracket respectively. The integrated transmitter-receiver module is configured to be assembled to or disassembled from the frame through guideways.
Embodiments of the disclosure provide a LiDAR assembly with a one-piece frame. The LiDAR assembly includes a plurality of modularized components configured to sense an environment surrounding the LiDAR assembly. The LiDAR assembly also includes the one-piece frame including a base, a plurality of vertical beams supported by the base, and a plurality of horizontal beams supported by the vertical beams. The base, the vertical beams, and the horizontal beams are integrally formed without mechanical connections therebetween. The vertical beams and the horizontal beams are equipped with positioning mechanisms configured to position the plurality of modularized components at predetermined positions of the LiDAR assembly.
Embodiments of the disclosure provide an integrated transmitter-receiver module for a LiDAR assembly. The integrated transmitter-receiver module includes a laser emitter configured to emit optical signals to an environment surrounding the LiDAR assembly. The integrated transmitter-receiver module also includes a receiver configured to detect returned optical signals from the environment. The laser emitter and the receiver are pre-aligned to focus the returned optical signal on one or more detectors of the receiver and are disposed on a shared base wherein the shared base is configured to assemble the integrated transmitter-receiver module to the LiDAR assembly.
Embodiments of the disclosure provide a control system for a LiDAR assembly. The control system includes a control module affixed on a printed circuit board (PCB), configured to control a transmitter and a receiver of the LiDAR assembly to emit and receive optical signals. The control system also includes an interface module affixed on a first bracket, configured to operatively couple the control module to the transmitter and the receiver. The control module and the interface module are configured to be positioned at predetermined positions of the LiDAR assembly through the PCB and the first bracket respectively.
The present disclosure relates to a system and a method for calibrating and a camera and a multi-line LIDAR of an autonomous vehicle. The system may perform the method to: obtain an image including a plurality of calibration targets thereon from the camera; obtain 3D data of the plurality of calibration targets from the LIDAR; and determine a relative pose of the camera relative to the LIDAR based on the image and the 3D data.
Embodiments of the disclosure provide methods and systems for predicting a movement trajectory of a pedestrian. The system includes a communication interface configured to receive a map of an area in which the pedestrian is traveling and sensor data acquired associated with the pedestrian. The system includes at least one processor configured to position the pedestrian in the map, and extract pedestrian features from the sensor data. The at least one processor is further configured to identify one or more objects surrounding the pedestrian based on the positioning of the pedestrian, and extract object features of the one or more objects from the sensor data. The at least one processor is also configured to predict the movement trajectory and a movement speed of the pedestrian based on the extracted pedestrian features and object features using a learning model.
Embodiments of the disclosure provide methods and systems for jointly predicting movement trajectories of a plurality of moving objects. The system includes a communication interface configured to receive a map of an area in which the plurality of moving objects are traveling and sensor data acquired associated with the plurality of moving objects. The system further includes at least one processor configured to position the plurality of moving objects in the map. The at least one processor further determines object features of each moving object based on the sensor data, and determines regulation features of the moving objects. The object features characterize movement of the respective moving object, and the regulation features characterize traffic regulations the moving objects need to obey. The at least one processor also jointly predicts the movement trajectories of the plurality of moving objects based on the object features and regulation features using a learning model.
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