Patent ID: 11964663
Assignee: AURORA OPERATIONS, INC.
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 15:
16. A method comprising:
receiving, from a phase coherent Light Detection and Ranging (LIDAR) monopulse component of a vehicle, LIDAR data capturing an environment of the vehicle,
the LIDAR data indicating, for each of a plurality of points in the environment of the vehicle, at least one corresponding instantaneous range and at least one corresponding instantaneous velocity based on a corresponding sensing event of a LIDAR monopulse component, the corresponding sensing events of the LIDAR component each comprising a first receiver sensing event at a first coherent receiver of the LIDAR monopulse component and a second receiver sensing event at a second coherent receiver of the LIDAR monopulse component, the first coherent receiver being positionally offset from the second coherent receiver;
determining that a subgroup of the LIDAR data corresponds to a dynamic object in the environment;
determining an instantaneous vehicle characteristic of the dynamic object, the determining based on multiple corresponding instantaneous velocities indicated by the LIDAR data of the subgroup; and
providing the instantaneous vehicle characteristic to one or both of: a planning subsystem of the vehicle and a control subsystem of the vehicle.