Patent ID: 11940559
Assignee: BAIDU USA LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 4:
5. An autonomous driving vehicle, comprising:
a light detection and range (LIDAR) device, where in the LIDAR device comprises an array of light transmitting and receiving (TX/RX) units arranged to sense a physical range associated with a target, wherein each of the light TX/RX units comprises:
a mounting board having a light pass-through opening,
a light emitter mounted on the mounting board adjacent to the light pass-through opening, wherein the mounting board is a printed circuit board (PCB) including a circuitry coupling the light emitter to a LIDAR controller, wherein the light emitter is configured to emit a light beam towards the target according to a light transmitting path,
a light detector positioned behind the mounting board to receive at least a portion of the light beam reflected from the target through the light pass-through opening according to a light receiving path, wherein the light transmitting path and the light receiving path are substantially in parallel and close to each other,
a first collimating lens to diverge the light beam from the light emitter towards to the target, and to receive and focus a reflected light beam to pass through the light pass-through opening,
a second collimating lens, and
a third collimating lens, wherein the first collimating lens is disposed between the mounting board and the target, wherein the mounting board is positioned behind the first collimating lens, wherein the second collimating lens positioned behind the mounting board, wherein the third collimating lens is positioned behind the second collimating lens, and wherein the light detector is positioned behind the third collimating lens; and

a perception and planning system coupled to the LIDAR device to perceive a driving environment surrounding the autonomous driving vehicle based on LIDAR sensor data provided by the LIDAR device and to control the autonomous driving vehicle to navigate the driving environment.