Patent ID: 11960029
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 19:
20. A non-transitory, computer-readable medium having instructions stored thereon, wherein the instructions, when executed by a processor, perform a method comprising:
causing, during a first firing cycle of a firing sequence, a first plurality of light emitters within an array of light emitters of a light detection and ranging (lidar) device to emit light signals having a first emission power;
causing, during the first firing cycle, each light detector within an array of light detectors of the lidar device that is associated with the first plurality of light emitters to listen for light signals reflected from a surrounding environment;
causing one or more light emitters within the first plurality of light emitters to emit one or more light signals having a second emission power during a second firing cycle of the firing sequence, wherein the second emission power is less than the first emission power;
causing, during the second firing cycle, a second plurality of light emitters within the array of light emitters to emit light signals having the first emission power, wherein the second plurality of light emitters comprises the light emitters within the first plurality of light emitters that are not emitting light signals having the second emission power during the second firing cycle;
causing, during the second firing cycle, each light detector within the array of light detectors that is associated with the first plurality of light emitters to listen for light signals from the surrounding environment; and
identifying whether interference is influencing measurements made by the lidar device, wherein identifying whether interference is influencing measurements made by the lidar device comprises determining, for each light detector of the lidar device that is associated with the first plurality of light emitters, whether any light signals detected during the second firing cycle correspond to the first emission power or the second emission power.