Patent ID: 11933902
Assignee: AURORA OPERATIONS, INC.
Field: Measurement (Instruments)
Classification: CPC B  G | IPC G

Claim 23:
24. An autonomous vehicle, comprising:
a phase coherent Light Detection and Ranging (LIDAR) monopulse component, the phase coherent LIDAR monopulse component being a frequency-modulated (FM) LIDAR monopulse component, and
one or more processors executing stored computer instructions to:
receive, from the phase coherent FM LIDAR monopulse component, a group of phase coherent FM LIDAR data points collectively capturing a plurality of points in an area of an environment of the vehicle,
each of the phase coherent FM LIDAR data points of the group indicating an instantaneous corresponding range and an instantaneous corresponding velocity for a corresponding one of the points in the environment, and each being generated based on a corresponding sensing event of the phase coherent FM LIDAR monopulse component;

determine that a subgroup, of the phase coherent FM LIDAR data points of the group, corresponds to an object of a particular classification, the determining based on both:
the corresponding ranges for multiple of the phase coherent FM LIDAR data points of the subgroup, and
the corresponding velocities for multiple of the phase coherent FM LIDAR data points of the subgroup; and

control steering, acceleration, and/or deceleration of the vehicle based on determining that the subgroup corresponds to the object of the particular classification.