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

Claim 24:
25. A method, comprising:
receiving, from a phase coherent Light Detection and Ranging (LIDAR) monopulse component of a vehicle, the phase coherent LIDAR monopulse component being a frequency-modulated (FM) LIDAR monopulse component, a group of 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 FM LIDAR monopulse component;

determining 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 FM LIDAR data points of the subgroup, and
the corresponding velocities for multiple of the FM LIDAR data points of the subgroup;

determining a multi-dimensional pose of the object based on the subgroup of the FM LIDAR data points of the group; and
providing the determined multi-dimensional pose and an indication of the particular classification to a planning subsystem of the vehicle, wherein the planning subsystem of the vehicle generates a trajectory of the vehicle based on the multi-dimensional pose and the indication of the particular classification.