Patent Description:
Several computer-based navigation systems that are configured for aiding navigation and/or control of vehicles have been proposed and implemented in the prior art. These systems range from more basic map-aided localization-based solutions - i.e. use of a computer system to assist a driver in navigating a route from a starting point to a destination point; to more complex ones such as computer- assisted and/or driver-autonomous driving systems. The known prior art solutions are described in <CIT>, <CIT> and <CIT>.

Some of these systems are implemented as what is commonly known as a "cruise control" system. Within these systems, the computer system boarded on the vehicles maintains a user-set speed of the vehicle. Some of the cruise control systems implement an "intelligent distance control" system, whereby the user can set up a distance to a potential car in front (such as, select a value expressed in a number of vehicles) and the computer system adjusts the speed of the vehicle at least in part based on the vehicle approaching the potential vehicle in front within the pre-defined distance. Some of the cruise control systems are further equipped with collision control systems, which systems, upon detection of the vehicle (or other obstacle) in front of the moving vehicle, slow down or stop the vehicle.

Some of the more advanced systems provide for a fully autonomous driving of the vehicle without direct control from the operator (i.e. the driver). These autonomously driven vehicles include systems that can cause the vehicle to accelerate, brake, stop, change lane and self-park.

One of the main technical challenges in implementing the above systems is the ability to detect an object located around the vehicle. In one example, the systems may need the ability to detect the vehicle in front of the present vehicle (the present vehicle having the system onboard), which vehicle in front may pose a risk / danger to the present vehicle and may require the system to take a corrective measure, be it braking or otherwise changing speed, stopping or changing lanes.

Other technical challenges with the implementation of the above systems include de-calibration of sensors and other components that gather data about the surroundings of the vehicle. A plethora of factors, including weather, road conditions, driving habits, for example, influence sensors and other components over time, requiring calibration in order to ensure that data is accurately captured and correctly used for controlling vehicles.

In LiDAR-based systems, objects around the vehicle can be detected by transmitting beams of light towards a region of interest, and measuring reflected light beams with a detector. Lasers emitting pulses of light within a narrow wavelength are often used as the light source. The position and distance of the object can be computed using Time of Flight calculations of the emitted and detected light beam. By computing such positions as "data points", a digital multi-dimensional representation of the surroundings can be generated.

In rotational LiDAR-based systems, the light beams are caused to rotate about a horizontal or vertical axis which can provide a scan of the region of interest in the horizontal or vertical plane, respectively. Typically, such rotation of the beams is achieved by a laser which is rotatable. However, moving components of the LiDAR system are prone to wear and tear leading to premature failure of the system.

It may be desirable, in certain applications, to obtain as large a region of interest as possible. In this respect, a number of lasers can be provided which are arranged to emit light beams in differing directions, thus enlarging the region of interest obtained with a single laser. However, increasing the number of lasers in a single LiDAR-based system can be prohibitively expensive.

Therefore, there is a need for systems and methods which avoid, reduce or overcome the limitations of the prior art.

The area which can be scanned (also referred to as "region of interest" (ROI)) by conventional rotational LiDAR systems is determined, on a horizontal axis, by an extent of available rotation of a light beam about a rotation axis. In certain systems which include a microelectromechanical (MEM) component, scanning on a vertical axis is also possible and limited by an amplitude of oscillation of the MEM component.

Known methods of further increasing the scanned area comprise increasing the number of light sources or MEM components, with the associated disadvantages of increased expense and decreased lifetime of the LiDAR systems.

Broadly, inventors have developed a LiDAR system that can scan an increased area compared to conventional systems without the use of additional light sources and taking into account the minimization of moving components, in certain embodiments. In certain embodiments, LiDAR systems of the present technology have an increased angle of spread of the beam of light transmitted to the region of interest, on one or both of the horizontal or vertical axis.

In certain embodiments, advantages of the present technology include an increased capacity of the system without compromising an expense and complexity of the system.

In accordance with a first broad aspect of the present technology, there is provided a LiDAR system for detecting objects in a region of interest, the system comprising a radiation source for emitting an output beam; a first optical fiber with an input end communicatively coupled to the radiation source for receiving the output beam and configured to transmit the output beam having an optical axis along the first optical fiber to an output end for emitting the output beam, the output beam having a first spread; an actuator coupled to the first optical fiber for imparting a first optical fiber movement to the output end of the first optical fiber, the first optical fiber movement comprising a plurality of positions of the output end of the first optical fiber defining a total first spread of the output beam when the output end is moving; an optical lens positioned by a focal distance from the output end of the first optical fiber, the optical lens being configured to transmit the output beam through the optical lens towards the region of interest and to cause the output beam to spread by a second spread of the output beam, the second spread being larger than the first spread, and a total second spread of the output beam when the output end is moving being larger than the total first spread; and a processor for controlling the actuator and the first optical fiber movement to modulate the angle of spread of radiation of the output beam in the region of interest.

In certain embodiments, the actuator comprises a piezoelectric component.

In certain embodiments, the LiDAR system further comprises a detection system for detecting an input beam from the region of interest, the detection system comprising: a detector; and a second optical fiber configured to transmit the input beam to a detector, the second optical fiber having: an input end for receiving the input beam, and an output end communicatively coupled to the detector, wherein the actuator is coupled to the second optical fiber for imparting a second optical fiber movement to the input end of the second optical fiber, the processor configured to control the actuator and the second optical fiber movement of the second optical fiber.

In certain embodiments, the actuator is configured to cause the second optical fiber movement to be physically coordinated with the first optical fiber movement.

In certain embodiments, the actuator is configured to induce the first optical fiber movement simultaneously with the second optical fiber movement.

In certain embodiments, the first optical fiber is selectively connected to the second optical fiber such that the input beam received at the output end of the first optical fiber can be redirected to the second optical fiber.

In certain embodiments, the system further comprises a detection system for detecting an input beam from the region of interest, the detection system comprising: a detector; and a second optical fiber configured to transmit the input beam to the detector and selectively communicatively coupled to the first optical fiber, the second optical fiber having: an input end for receiving the input beam from the first optical fiber, and an output end communicatively coupled to the detector.

In certain embodiments, the system further comprises an optical circulator for selectively transmitting the input beam from the region of interest to the second optical fiber.

In certain embodiments, the at least the output end of the first optical fiber has a double cladding construction comprising a first channel for transmitting the input beam and a second channel for transmitting the output beam.

In certain embodiments, the total first spread of the first optical fiber is along a first plane, the first plane being the same as a plane of the first optical fiber movement. In certain embodiments, the total second spread is along the first plane.

In certain embodiments, the actuator comprises a fixing component to fix the first optical fiber at a first fixing point along a length of the first optical fiber, the first fixing point defining a pivot point of the output end of the first optical fiber.

In certain embodiments, the actuator comprises a fixing component to fix the second optical fiber at a second fixing point along a length of the second optical fiber, the second fixing point defining a pivot point of the input end of the second optical fiber.

In certain embodiments, the total first spread of the output beam is between about <NUM>° and about <NUM>°.

In certain embodiments, the total second spread of the output beam is between about <NUM>° and about <NUM>°.

In certain embodiments, the total first spread of the first optical fiber is along two planes, the two planes being the same as two planes of the first optical fiber movement.

In certain embodiments, the system further comprises at least one replacement optical lens having different optical properties than the optical lens.

From another aspect, there is provided a LiDAR method for detecting objects in a region of interest, the method being implemented by a processor communicatively connected to a LiDAR system, the method comprising: causing a radiation source to emit an output beam incident on a first optical fiber, the first optical fiber having an input end communicatively coupled to the radiation source and configured to transmit the output beam along an optical axis of the first optical fiber to an output end, the output beam at the output end having a first spread; causing an actuator coupled to the first optical fiber to impart a first optical fiber movement to the output end of the first optical fiber, the first optical fiber movement comprising a plurality of positions of the output end of the first optical fiber defining a total first spread of the output beam when the output end is moving; wherein an optical lens positioned by a focal distance from the output end of the first optical fiber is configured to transmit the output beam through the optical lens towards the region of interest and to cause the output beam to spread by a second spread of the output beam, the second spread being larger than the first spread, and a total second spread of the output beam when the output end is moving being larger than the total first spread; and the method further comprising the processor controlling the actuator and the first optical fiber movement to modulate an angle of spread of radiation of the output beam in the region of interest.

In certain embodiments, modulation of the first optical fiber movement is responsive to a detected object in the region of interest.

By means of certain embodiments of the present technology, an area of the region of interest which is scanned by the present systems and methods can be increased without increasing the number of LiDAR systems (or number of light sources and light detectors), and the number of moving parts in the system. This can, in turn, translate to costs savings and increasing a longevity of the LiDAR system.

In the context of the present specification, a "radiation source" broadly refers to any device configured to emit radiation such as a radiation signal in the form of a beam. A radiation source includes, but is not limited to a light source configured to emit light beams. The light source may be a laser such as a solid-state laser, laser diode, a high power laser, or an alternative light source such as, a light emitting diode (LED)-based light source. Some (non-limiting) examples of the light source are Fabry-Perot laser diode, a quantum well laser, a distributed Bragg reflector (DBR) laser, a distributed feedback (DFB) laser, a fiber-laser, or a vertical-cavity surface-emitting laser (VCSEL). In addition, the light source may emit light beams in differing formats, such as light pulses, continuous wave (CW), quasi-CW, and so on. In some non-limiting examples, the light source may include a laser diode configured to emit light at a wavelength between about <NUM> and <NUM>. Alternatively, the light source may include a laser diode configured to emit light beams at a wavelength between about <NUM> and about <NUM>, between about <NUM> and about <NUM>, between about <NUM> and about <NUM>, or in between any other suitable range. Unless indicated otherwise, the term "about" with regard to a numeric value is defined as a variance of up to <NUM>% with respect to the stated value.

In the context of the present specification, an "output beam" may also be referred to as a radiation beam, such as a light beam, that is generated by the radiation source and is directed downrange towards a region of interest. The output beam may have one or more parameters such as: beam duration, beam angular dispersion, wavelength, instantaneous power, photon density at different distances from light source, average power, beam power intensity, beam width, beam repetition rate, beam sequence, pulse duty cycle, wavelength, or phase etc. The output beam may be unpolarized or randomly polarized, may have no specific or fixed polarization (e.g., the polarization may vary with time), or may have a particular polarization (e.g., linear polarization, elliptical polarization, or circular polarization).

In the context of the present specification, an "input beam" may also be referred to as a radiation beam, such as a light beam, reflected from one or more objects in the ROI. By reflected is meant that at least a portion of the output beam incident on one or more objects in the ROI, bounces off the one or more objects. The output beam may have one or more parameters such as: time-of-flight (i.e., time from emission until detection), instantaneous power (e.g., power signature), average power across entire return pulse, and photon distribution/signal over return pulse period etc..

In the context of the present specification, a "Region of Interest" may broadly include a portion of the observable environment of LiDAR system in which the one or more objects may be detected. It is noted that the region of interest of the LiDAR system may be affected by various conditions such as but not limited to: an orientation of the LiDAR system (e.g. direction of an optical axis of the LiDAR system); a position of the LiDAR system with respect to the environment (e.g. distance above ground and adjacent topography and obstacles); operational parameters of the LiDAR system (e.g. emission power, computational settings, defined angles of operation), etc. The ROI of LIDAR system may be defined, for example, by a plane angle or a solid angle. In one example, the ROI may also be defined within a certain range (e.g. up to <NUM> or so).

In the context of the present specification, a "server" is a computer program that is running on appropriate hardware and is capable of receiving requests (e.g. from electronic devices) over a network, and carrying out those requests, or causing those requests to be carried out. The hardware may be implemented as one physical computer or one physical computer system, but neither is required to be the case with respect to the present technology. In the present context, the use of the expression a "server" is not intended to mean that every task (e.g. received instructions or requests) or any particular task will have been received, carried out, or caused to be carried out, by the same server (i.e. the same software and/or hardware); it is intended to mean that any number of software elements or hardware devices may be involved in receiving/sending, carrying out or causing to be carried out any task or request, or the consequences of any task or request; and all of this software and hardware may be one server or multiple servers, both of which are included within the expression "at least one server".

In the context of the present specification, "electronic device" is any computer hardware that is capable of running software appropriate to the relevant task at hand. In the context of the present specification, the term "electronic device" implies that a device can function as a server for other electronic devices, however it is not required to be the case with respect to the present technology. Thus, some (non-limiting) examples of electronic devices include self-driving unit, personal computers (desktops, laptops, netbooks, etc.), smart phones, and tablets, as well as network equipment such as routers, switches, and gateways. It should be understood that in the present context the fact that the device functions as an electronic device does not mean that it cannot function as a server for other electronic devices.

In the context of the present specification, the expression "information" includes information of any nature or kind whatsoever capable of being stored in a database. Thus information includes, but is not limited to visual works (e.g. maps), audiovisual works (e.g. images, movies, sound records, presentations etc.), data (e.g. location data, weather data, traffic data, numerical data, etc.), text (e.g. opinions, comments, questions, messages, etc.), documents, spreadsheets, etc..

In the context of the present specification, the words "first", "second", "third", etc. have been used as adjectives only for the purpose of allowing for distinction between the nouns that they modify from one another, and not for the purpose of describing any particular relationship between those nouns. Further, as is discussed herein in other contexts, reference to a "first" element and a "second" element does not preclude the two elements from being the same actual real-world element.

The examples and conditional language recited herein are principally intended to aid the reader in understanding the principles of the present technology and not to limit its scope to such specifically recited examples and conditions.

The functions of the various elements shown in the figures, including any functional block labeled as a "processor", may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. Moreover, explicit use of the term "processor" or "controller" should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage.

Referring initially to <FIG>, there is shown a computer system <NUM> suitable for use with some implementations of the present technology, the computer system <NUM> comprising various hardware components including one or more single or multi-core processors collectively represented by processor <NUM>, a solid-state drive <NUM>, a memory <NUM>, which may be a random-access memory or any other type of memory.

Communication between the various components of the computer system <NUM> may be enabled by one or more internal and/or external buses (not shown) (e.g. a PCI bus, universal serial bus, IEEE <NUM> "Firewire" bus, SCSI bus, Serial-ATA bus, etc.), to which the various hardware components are electronically coupled. According to embodiments of the present technology, the solid-state drive <NUM> stores program instructions suitable for being loaded into the memory <NUM> and executed by the processor <NUM> for determining a presence of an object. For example, the program instructions may be part of a vehicle control application executable by the processor <NUM>. It is noted that the computer system <NUM> may have additional and/or optional components (not depicted), such as network communication modules, locationalization modules, and the like.

<FIG> illustrates a networked computer environment <NUM> suitable for use with some embodiments of the systems and/or methods of the present technology. The networked computer environment <NUM> comprises an electronic device <NUM> associated with a vehicle <NUM>, and/or associated with a user (not depicted) who is associated with the vehicle <NUM>, such as an operator of the vehicle <NUM>, a server <NUM> in communication with the electronic device <NUM> via a communication network <NUM> (e.g. the Internet or the like, as will be described in greater detail herein below).

Optionally, the networked computer environment <NUM> can also include a GPS satellite (not depicted) transmitting and/or receiving a GPS signal to/from the electronic device <NUM>. It will be understood that the present technology is not limited to GPS and may employ a positioning technology other than GPS. It should be noted that the GPS satellite can be omitted altogether.

The vehicle <NUM> to which the electronic device <NUM> is associated may comprise any transportation vehicle, for leisure or otherwise, such as a private or commercial car, truck, motorbike or the like. Although the vehicle <NUM> is depicted as being a land vehicle, this may not be the case in each embodiment of the present technology. For example, the vehicle <NUM> may be a watercraft, such as a boat, or an aircraft, such as a flying drone.

The vehicle <NUM> may be user operated or a driver-less vehicle. In at least some embodiments of the present technology, it is contemplated that the vehicle <NUM> may be implemented as a Self-Driving Car (SDC). It should be noted that specific parameters of the vehicle <NUM> are not limiting, these specific parameters including: vehicle manufacturer, vehicle model, vehicle year of manufacture, vehicle weight, vehicle dimensions, vehicle weight distribution, vehicle surface area, vehicle height, drive train type (e.g. 2x or 4x), tire type, brake system, fuel system, mileage, vehicle identification number, and engine size.

The implementation of the electronic device <NUM> is not particularly limited, but as an example, the electronic device <NUM> may be implemented as a vehicle engine control unit, a vehicle CPU, a vehicle navigation device (e.g. TomTom™, Garmin™), a tablet, a personal computer built into the vehicle <NUM>, and the like. Thus, it should be noted that the electronic device <NUM> may or may not be permanently associated with the vehicle <NUM>. Additionally or alternatively, the electronic device <NUM> can be implemented in a wireless communication device such as a mobile telephone (e.g. a smart-phone or a radio-phone). In certain embodiments, the electronic device <NUM> has a display <NUM>.

The electronic device <NUM> may comprise some or all of the components of the computer system <NUM> depicted in <FIG>. In certain embodiments, the electronic device <NUM> is an on-board computer device and comprises the processor <NUM>, the solid-state drive <NUM> and the memory <NUM>. In other words, the electronic device <NUM> comprises hardware and/or software and/or firmware, or a combination thereof, for processing data as will be described in greater detail below.

In some embodiments of the present technology, the communication network <NUM> is the Internet. In alternative non-limiting embodiments, the communication network <NUM> can be implemented as any suitable local area network (LAN), wide area network (WAN), a private communication network or the like. It should be expressly understood that implementations for the communication network <NUM> are for illustration purposes only. A communication link (not separately numbered) is provided between the electronic device <NUM> and the communication network <NUM>, the implementation of which will depend inter alia on how the electronic device <NUM> is implemented. Merely as an example and not as a limitation, in those embodiments of the present technology where the electronic device <NUM> is implemented as a wireless communication device such as a smartphone or a navigation device, the communication link can be implemented as a wireless communication link. Examples of wireless communication links include, but are not limited to, a <NUM> communication network link, a <NUM> communication network link, and the like. The communication network <NUM> may also use a wireless connection with the server <NUM>.

In some embodiments of the present technology, the server <NUM> is implemented as a computer server and may comprise some or all of the components of the computer system <NUM> of <FIG>. In one non-limiting example, the server <NUM> is implemented as a Dell™ PowerEdge™ Server running the Microsoft™ Windows Server™ operating system, but can also be implemented in any other suitable hardware, software, and/or firmware, or a combination thereof. In the depicted non-limiting embodiments of the present technology, the server is a single server. In alternative non-limiting embodiments of the present technology (not shown), the functionality of the server <NUM> may be distributed and may be implemented via multiple servers.

In some non-limiting embodiments of the present technology, the processor <NUM> of the electronic device <NUM> can be in communication with the server <NUM> to receive one or more updates. The updates can be, but are not limited to, software updates, map updates, routes updates, weather updates, and the like. In some embodiments of the present technology, the processor <NUM> can also be configured to transmit to the server <NUM> certain operational data, such as routes travelled, traffic data, performance data, and the like. Some or all data transmitted between the vehicle <NUM> and the server <NUM> may be encrypted and/or anonymized.

It should be noted that a variety of sensors and systems may be used by the electronic device <NUM> for gathering information about surroundings <NUM> of the vehicle <NUM>. As seen in <FIG>, the vehicle <NUM> may be equipped with a plurality of sensor systems <NUM>. It should be noted that different sensor systems from the plurality of sensor systems <NUM> may be used for gathering different types of data regarding the surroundings <NUM> of the vehicle <NUM>.

In one example, the plurality of sensor systems <NUM> may comprise one or more camera-type sensor systems that are mounted to the vehicle <NUM> and communicatively coupled to the processor <NUM>. Broadly speaking, the one or more camera-type sensor systems may be configured to gather image data about various portions of the surroundings <NUM> of the vehicle <NUM>. In some cases, the image data provided by the one or more camera-type sensor systems may be used by the electronic device <NUM> for performing object detection procedures. For example, the electronic device <NUM> may be configured to feed the image data provided by the one or more camera-type sensor systems to an Object Detection Neural Network (ODNN) that has been trained to localize and classify potential objects in the surroundings <NUM> of the vehicle <NUM>.

In another example, the plurality of sensor systems <NUM> may comprise one or more radar-type sensor systems that are mounted to the vehicle <NUM> and communicatively coupled to the processor <NUM>. Broadly speaking, the one or more radar-type sensor systems may be configured to make use of radio waves to gather data about various portions of the surroundings <NUM> of the vehicle <NUM>. For example, the one or more radar-type sensor systems may be configured to gather radar data about potential objects in the surroundings <NUM> of the vehicle <NUM> and which data may be representative of distance of objects from the radar-type sensor system, orientation of objects, velocity and/or speed of objects, and the like.

It should be noted that the plurality of sensor systems <NUM> may comprise additional types of sensor systems to those non-exhaustively described above and without departing from the scope of the present technology.

Furthermore, the vehicle <NUM> is equipped with one or more Light Detection and Ranging (LiDAR) systems for gathering information about surroundings <NUM> of the vehicle <NUM>. The LiDAR systems may be in addition to, or in some cases instead of, the plurality of sensor systems <NUM>. A given LiDAR system <NUM> from the one or more LiDAR systems may be mounted, or retrofitted, to the vehicle <NUM> in a variety of locations and/or in a variety of configurations.

For example, a given LiDAR system <NUM> may be mounted on an interior, upper portion of a windshield of the vehicle <NUM>. Nevertheless, as illustrated in <FIG>, other locations for mounting the given LiDAR system <NUM> are within the scope of the present disclosure, including on a back window, side windows, front hood, rooftop, front grill, front bumper or the side of the vehicle <NUM>. In some cases, the given LiDAR system <NUM> can even be mounted in a dedicated enclosure mounted on the top of the vehicle <NUM>.

As mentioned above, the LiDAR system <NUM> may also be mounted in a variety of configurations.

In one embodiment, such as that of <FIG>, the given LiDAR system <NUM> of the one or more LiDAR systems is mounted to the rooftop of the vehicle <NUM> in a rotatable configuration. For example, the given LiDAR system <NUM> mounted to the vehicle <NUM> in a rotatable configuration may comprise at least some components that are rotatable <NUM> degrees about an axis of rotation of the given LiDAR system <NUM>. It should be noted that the given LiDAR system <NUM> mounted in rotatable configurations may gather data about most of the portions of the surroundings <NUM> of the vehicle <NUM>.

In another embodiment, such as that of <FIG>, the given LiDAR system <NUM> of the one or more LiDAR systems is mounted to the side, or the front grill, for example, in a non-rotatable configuration. For example, the given LiDAR system <NUM> mounted to the vehicle <NUM> in a non-rotatable configuration may comprise at least some components that are not rotatable <NUM> degrees and are configured to gather data about pre-determined portions of the surroundings <NUM> of the vehicle <NUM>.

Irrespective of the specific location and/or the specific configuration of the given LiDAR system <NUM>, the LiDAR system <NUM> is configured to capture data about the surroundings <NUM> of the vehicle <NUM> for building a multi-dimensional map of objects in the surroundings <NUM> of the vehicle <NUM>. How the given LiDAR system <NUM> are configured to capture data about the surroundings <NUM> of the vehicle <NUM> will now be described.

With reference to <FIG>, there is depicted a non-limiting example of a LiDAR system <NUM>. It should be noted that the LiDAR system <NUM> (see <FIG>) may be implemented in a similar manner to the implementation of the LiDAR system <NUM>.

Broadly speaking, the LiDAR system <NUM> may comprise a variety of internal components such as, but not limited to: (i) a light source component <NUM> (also referred to as a "radiation source component"), (ii) a scanner component <NUM>, (iii) a receiver component <NUM> (also referred to herein as a "detection system"), and (iv) a controller component <NUM>. It is contemplated that in addition to the internal components non-exhaustively listed above, the LiDAR system <NUM> may further comprise a variety of sensors (such as, for example, a temperature sensor, a moisture sensor, etc.) which are omitted from <FIG> for sake of clarity.

In certain embodiments, one or more of the internal components of the LiDAR system <NUM> may be implemented in a common housing <NUM> as depicted in <FIG>. In other implementations, at least the controller component <NUM> may be located outside of the common housing <NUM>, and optionally remotely thereto.

The light source component <NUM> is communicatively coupled to the controller component <NUM> and is configured to emit radiation, such as a radiation signal in the form of a beam. In certain embodiments, the light source component <NUM> is configured to emit light. The light source component <NUM> comprises one or more lasers that emit light having a particular operating wavelength. The operating wavelength of the light source component <NUM> may be in the infrared, visible, and/or ultraviolet portions of the electromagnetic spectrum. For example, the light source component <NUM> may include one or more lasers with an operating wavelength between about <NUM> and <NUM>. Alternatively, the light source may include a laser diode configured to emit light at a wavelength between about <NUM> and about <NUM>, between about <NUM> and about <NUM>, or between about <NUM> and about <NUM>. However, it should be noted that the light source component <NUM> may include lasers with different operating wavelengths, without departing from the scope of the present technology. In certain other embodiments, the light source component <NUM> comprises a light emitting diode (LED) or a fiber-laser.

In operation, the light source component <NUM> generates an output beam <NUM> of light. It is contemplated that the output beam <NUM> may have any suitable form such as continuous-wave, or pulsed. As illustrated in <FIG>, the output beam <NUM> exits the LiDAR system <NUM> and is directed downrange towards the surroundings <NUM>.

Let it be assumed that an object <NUM> is located at a distance <NUM> from the LiDAR system <NUM>. It should be noted though, as will be explained below in greater detail, the presence of the object <NUM> and the distance <NUM> are not apriori known and that the purpose of the LiDAR system <NUM> is to locate the object <NUM> and/or capture data for building a multi-dimensional map of at least a portion of the surroundings <NUM> with the object <NUM> (and other potential objects) being represented in it in a form of one or more data points.

Once the output beam <NUM> reaches the object <NUM>, the object <NUM> may reflect at least a portion of light from the output beam <NUM>, and some of the reflected light beams may return back towards the LiDAR system <NUM>. By reflected is meant that at least a portion of light beam from the output beam <NUM> bounces off the object <NUM>. A portion of the light beam from the output beam <NUM> may be absorbed by the object <NUM>.

In the example illustrated in <FIG>, the reflected light beam is represented by input beam <NUM>. The input beam <NUM> is captured by the LiDAR system <NUM> via the receiver component <NUM>. It should be noted that, in some cases, the input beam <NUM> may contain only a relatively small fraction of the light from the output beam <NUM>. It should also be noted that an angle of the input beam <NUM> relative to a surface of the object <NUM> ("angle of incidence") may be the same or different than an angle of the output beam <NUM> relative to surface of the object <NUM> ("angle of reflection").

The operating wavelength of the LiDAR system <NUM> may lie within portions of the electromagnetic spectrum that correspond to light produced by the sun. Therefore, in some cases, sunlight may act as background noise which can obscure the light signal detected by the LiDAR system <NUM>. This solar background noise can result in false-positive detections and/or may otherwise corrupt measurements of the LiDAR system <NUM>. Although it may be feasible to increase a Signal-to-Noise Ratio (SNR) of the LiDAR system <NUM> by increasing the power level of the output beam <NUM>, this may not be desirable in at least some situations. For example, increasing power levels of the output beam <NUM> may result in the LiDAR system <NUM> not being eye-safe.

It is contemplated that the LiDAR system <NUM> may comprise an eye-safe laser, or put another way, the LiDAR system <NUM> may be classified as an eye-safe laser system or laser product. Broadly speaking, an eye-safe laser, laser system, or laser product may be a system with some or all of: an emission wavelength, average power, peak power, peak intensity, pulse energy, beam size, beam divergence, exposure time, or scanned output beam such that emitted light from this system presents little or no possibility of causing damage to a person's eyes.

As previously alluded to, the light source component <NUM> may include one or more pulsed lasers configured to produce, emit, or radiate pulses of light with certain pulse duration. For example, the light source component <NUM> may be configured to emit pulses with a pulse duration (e.g., pulse width) ranging from <NUM> ps to <NUM> ns. In another example, the light source component <NUM> may emit pulses at a pulse repetition frequency of approximately <NUM> to <NUM> or a pulse period (e.g., a time between consecutive pulses) of approximately <NUM> ns to <NUM>. Overall, however, the light source component <NUM> can generate the output beam <NUM> with any suitable average optical power, and the output beam <NUM> may include optical pulses with any suitable pulse energy or peak optical power for a given application.

In some embodiments, the light source component <NUM> may comprise one or more laser diodes, such as but not limited to: Fabry-Perot laser diode, a quantum well laser, a distributed Bragg reflector (DBR) laser, a distributed feedback (DFB) laser, or a vertical-cavity surface-emitting laser (VCSEL). Just as examples, a given laser diode operating in the light source component <NUM> may be an aluminum-gallium-arsenide (AlGaAs) laser diode, an indium-gallium-arsenide (InGaAs) laser diode, or an indium-gallium-arsenide-phosphide (InGaAsP) laser diode, or any other suitable laser diode. It is also contemplated that the light source component <NUM> may include one or more laser diodes that are current-modulated to produce optical pulses.

In some embodiments, the output beam <NUM> emitted by the light source component <NUM> is a collimated optical beam with any suitable beam divergence for a given application. Broadly speaking, divergence of the output beam <NUM> is an angular measure of an increase in beam size (e.g., a beam radius or beam diameter) as the output beam <NUM> travels away from the light source component <NUM> or the LiDAR system <NUM>. In some embodiments, the output beam <NUM> may have a substantially circular cross section.

It is also contemplated that the output beam <NUM> emitted by light source component <NUM> may be unpolarized or randomly polarized, may have no specific or fixed polarization (e.g., the polarization may vary with time), or may have a particular polarization (e.g., the output beam <NUM> may be linearly polarized, elliptically polarized, or circularly polarized).

In at least some embodiments, the output beam <NUM> and the input beam <NUM> may be substantially coaxial. In other words, the output beam <NUM> and input beam <NUM> may at least partially overlap or share a common propagation axis, so that the input beam <NUM> and the output beam <NUM> travel along substantially the same optical path (albeit in opposite directions). Nevertheless, in other embodiments, it is contemplated that the output beam <NUM> and the input beam <NUM> may not be coaxial, or in other words, may not overlap or share a common propagation axis inside the LiDAR system <NUM>, without departing from the scope of the present technology.

It should be noted that in at least some embodiments of the present technology, the light source component <NUM> may be rotatable, such as by <NUM> degrees or less, about the axis of rotation (not depicted) of the LiDAR system <NUM> when the LiDAR system <NUM> is implemented in a rotatable configuration. However, in other embodiments, the light source component <NUM> may be stationary even when the LiDAR system <NUM> is implemented in a rotatable configuration, without departing from the scope of the present technology.

As schematically illustrated in <FIG>, the LiDAR system <NUM> may make use of a given internal beam path from a plurality of internal beam paths <NUM> for emitting the output beam <NUM> (generated by the light source component <NUM>) towards the surroundings <NUM>. In one example, the given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the light from the light source component <NUM> to the scanner component <NUM> and, in turn, the scanner component <NUM> may allow the output beam <NUM> to be directed downrange towards the surroundings <NUM>.

Also, the LiDAR system <NUM> may make use of another given internal beam path from the plurality of internal beam paths <NUM> for providing the input beam <NUM> to the receiver component <NUM>. In one example, the another given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the input beam <NUM> from the scanner component <NUM> to the receiver component <NUM>. In another example, the another given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the input beam <NUM> directly from the surroundings <NUM> to the receiver component <NUM> (without the input beam <NUM> passing through the scanner component <NUM>).

It should be noted that the plurality of internal beam paths <NUM> may comprise a variety of optical components. For example, the LiDAR system <NUM> may include one or more optical components configured to condition, shape, filter, modify, steer, or direct the output beam <NUM> and/or the input beam <NUM>. For example, the LiDAR system <NUM> may include one or more lenses, mirrors, filters (e.g., band pass or interference filters), optical fibers, circulators, beam splitters, polarizers, polarizing beam splitters, wave plates (e.g., half-wave or quarter-wave plates), diffractive elements, microelectromechanical (MEM) elements, collimating elements, or holographic elements.

It is contemplated that in at least some embodiments, the given internal beam path and the another internal beam path from the plurality of internal beam paths <NUM> may share at least some common optical components, however, this might not be the case in each and every embodiment of the present technology.

Generally speaking, the scanner component <NUM> steers the output beam <NUM> in one or more directions downrange towards the surroundings <NUM>. The scanner component <NUM> may comprise a variety of optical components and/or mechanical-type components for performing the scanning of the output beam <NUM>. For example, the scanner component <NUM> may include one or more mirrors, prisms, lenses, MEM components, piezoelectric components, optical fibers, splitters, diffractive elements, collimating elements, and the like. It should be noted that the scanner component <NUM> may also include one or more actuators (not illustrated) driving at least some optical components to rotate, tilt, pivot, or move in an angular manner about one or more axes, for example.

The scanner component <NUM> may be configured to scan the output beam <NUM> over a variety of horizontal angular ranges and/or vertical angular ranges. In other words, the scanner component <NUM> may be instrumental in providing the LiDAR system <NUM> with a desired Region of Interest (ROI) <NUM>. The ROI <NUM> of the LiDAR system <NUM> may refer to an area, a volume, a region, an angular range, and/or portion(s) of the surroundings <NUM> about which the LiDAR system <NUM> may be configured to scan and/or can capture data.

It should be noted that the scanner component <NUM> may be configured to scan the output beam <NUM> horizontally and/or vertically, and as such, the ROI <NUM> of the LiDAR system <NUM> may have a horizontal direction and a vertical direction. For example, the LiDAR system <NUM> may have a horizontal ROI <NUM> of <NUM> degrees and a vertical ROI <NUM> of <NUM> degrees.

The scanner component <NUM> may be communicatively coupled to the controller component <NUM>. As such, the controller component <NUM> may be configured to control the scanner component <NUM> so as to guide the output beam <NUM> in a desired direction downrange and/or along a desired scan pattern. Broadly speaking, a scan pattern may refer to a pattern or path along which the output beam <NUM> is directed by the scanner component <NUM> during operation.

The LiDAR system <NUM> may thus make use of the scan pattern to generate a point cloud substantially covering the ROI <NUM> of the LiDAR system <NUM>. As will be described in greater detail herein further below, this point cloud of the LiDAR system <NUM> may be used to render a multi-dimensional map of objects in the surroundings <NUM> of the vehicle <NUM>.

In operation, in certain embodiments, the light source component <NUM> emits pulses of light (represented by the output beam <NUM>) which the scanner component <NUM> scans across the ROI <NUM> of the LiDAR system <NUM> in accordance with the scan pattern. As mentioned above, the object <NUM> may reflect one or more of the emitted pulses. The receiver component <NUM> receives or detects photons from the input beam <NUM> and generates one or more representative data signals. For example, the receiver component <NUM> may generate an output electrical signal (not depicted) that is representative of the input beam <NUM>. The receiver component <NUM> may also provide the so-generated electrical signal to the controller component <NUM> for further processing.

The receiver component <NUM> is communicatively coupled to the controller component <NUM> and may be implemented in a variety of ways. For example, the receiver component <NUM> may comprise a photoreceiver, optical receiver, optical sensor, detector, photodetector, optical detector, optical fibers, and the like. As mentioned above, in some embodiments, the receiver component <NUM> acquires or detects at least a portion of the input beam <NUM> and produces an electrical signal that corresponds to the input beam <NUM>. For example, if the input beam <NUM> includes an optical pulse, the receiver component <NUM> may produce an electrical current or voltage pulse that corresponds to the optical pulse detected by the receiver component <NUM>.

It is contemplated that the receiver component <NUM> may be implemented with one or more avalanche photodiodes (APDs), one or more single-photon avalanche diodes (SPADs), one or more PN photodiodes (e.g., a photodiode structure formed by a p-type semiconductor and a n-type semiconductor), one or more PIN photodiodes (e.g., a photodiode structure formed by an undoped intrinsic semiconductor region located between p-type and n-type regions), and the like.

In some non-limiting embodiments, the receiver component <NUM> may also comprise circuitry that performs signal amplification, sampling, filtering, signal conditioning, analog-to-digital conversion, time-to-digital conversion, pulse detection, threshold detection, rising-edge detection, falling-edge detection, and the like. For example, the receiver component <NUM> may include electronic components configured to convert a received photocurrent (e.g., a current produced by an APD in response to a received optical signal) into a voltage signal. The receiver component <NUM> may also include additional circuitry for producing an analog or digital output signal that corresponds to one or more characteristics (e.g., rising edge, falling edge, amplitude, duration, and the like) of a received optical pulse.

Depending on the implementation, the controller component <NUM> may include one or more processors, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and/or other suitable circuitry. The controller component <NUM> may also include non-transitory computer-readable memory to store instructions executable by the controller component <NUM> as well as data which the controller component <NUM> may produce based on the signals acquired from other internal components of the LiDAR system <NUM> and/or may provide signals to the other internal components of the LiDAR system <NUM>. The memory can include volatile (e.g., RAM) and/or non-volatile (e.g., flash memory, a hard disk) components. The controller component <NUM> may be configured to generate data during operation and store it in the memory. For example, this data generated by the controller component <NUM> may be indicative of the data points in the point cloud of the LiDAR system <NUM>.

It is contemplated that in at least some non-limiting embodiments of the present technology, the controller component <NUM> may be implemented in a similar manner to the electronic device <NUM> and/or the computer system <NUM>, without departing from the scope of the present technology.

In addition to collecting data from the receiver component <NUM>, the controller component <NUM> may also be configured to provide control signals to, and potentially receive diagnostics data from, the light source component <NUM> and the scanner component <NUM>.

As previously stated, the controller component <NUM> is communicatively coupled to one or more of the light source component <NUM>, the scanner component <NUM>, and the receiver component <NUM>. The controller component <NUM> may receive electrical trigger pulses from the light source component <NUM>, where each electrical trigger pulse corresponds to the emission of an optical pulse by the light source component <NUM>. The controller component <NUM> may further provide instructions, a control signal, and/or a trigger signal to the light source component <NUM> indicating when the light source component <NUM> is to produce optical pulses.

Just as an example, the controller component <NUM> may be configured to send an electrical trigger signal that includes electrical pulses, so that the light source component <NUM> emits an optical pulse in response to each electrical pulse of the electrical trigger signal. It is also contemplated that, the controller component <NUM> may cause the light source component <NUM> to adjust one or more characteristics of light produced by the light source component <NUM> such as, but not limited to: frequency, period, duration, pulse energy, peak power, average power, and wavelength of the optical pulses.

It should be noted that the controller component <NUM> may be configured to determine a "time-of-flight" value for an optical pulse based on timing information associated with (i) when a given pulse was emitted by light source component <NUM> and (ii) when a portion of the pulse (e.g., from the input beam <NUM>) was detected or received by the receiver component <NUM>.

It is contemplated that the controller component <NUM> may be configured to analyze one or more characteristics of the electrical signals from the light source component <NUM> and/or the receiver component <NUM> to determine one or more characteristics of the object <NUM> such as the distance <NUM> downrange from the LiDAR system <NUM>.

For example, the controller component <NUM> may determine the time of flight value and/or a phase modulation value for the emitted pulse of the output beam <NUM>. Let it be assumed that the LiDAR system <NUM> determines a time-of -light value "T" representing, in a sense, a "round-trip" time for an emitted pulse to travel from the LiDAR system <NUM> to the object <NUM> and back to the LiDAR system <NUM>. As a result, the controller component <NUM> may be configured to determine the distance <NUM> in accordance with the following equation: <MAT> wherein D is the distance <NUM>, T is the time-of-flight value, and c is the speed of light (approximately <NUM>×<NUM><NUM> m/s).

As previously alluded to, the LiDAR system <NUM> may be used to determine the distance to one or more other potential objects located in the surroundings <NUM>. By scanning the output beam <NUM> across the ROI <NUM> of the LiDAR system <NUM> in accordance with a scanning pattern, the LiDAR system <NUM> is configured to map distances (similar to the distance <NUM>) to respective data points within the ROI <NUM> of the LiDAR system <NUM>. As a result, the LiDAR system <NUM> may be configured to render these data points captured in succession (e.g., the point cloud) in a form of a multi-dimensional map.

As an example, this multi-dimensional map may be used by the electronic device <NUM> for detecting, or otherwise identifying, objects or determining a shape or distance of potential objects within the ROI <NUM> of the LiDAR system <NUM>. It is contemplated that the LiDAR system <NUM> may be configured to repeatedly/iteratively capture and/or generate point clouds at any suitable rate for a given application.

It should be noted that a location of a given object in the surroundings <NUM> of the vehicle <NUM> may be overlapped, encompassed, or enclosed at least partially within the ROI of the LiDAR system <NUM>. For example, the object <NUM> may include all or a portion of a person, vehicle, motorcycle, truck, train, bicycle, wheelchair, pushchair, pedestrian, animal, road sign, traffic light, lane marking, road-surface marking, parking space, pylon, guard rail, traffic barrier, pothole, railroad crossing, obstacle in or near a road, curb, stopped vehicle on or beside a road, utility pole, house, building, trash can, mailbox, tree, any other suitable object, or any suitable combination of all or part of two or more objects.

With reference to <FIG>, there is depicted an implementation of the LiDAR system <NUM> executed in accordance to a specific embodiment of the present technology.

More specifically, in the LiDAR system <NUM> the light source component <NUM> comprises a laser <NUM> and a collimator <NUM>; the scanner component <NUM> comprises an optical fiber <NUM> (also referred to herein as "first optical fiber") communicatively coupled with the light source component <NUM> and arranged to transmit the output beam <NUM> from an input end <NUM> to an output end <NUM> of the optical fiber <NUM> along an optical axis of the optical fiber <NUM>, an actuator <NUM> for inducing movement in the output end <NUM> of the optical fiber <NUM>, and a lens component <NUM> (also referred to herein as "optical lens") configured to transmit the output beam <NUM> through the lens component <NUM> as a modulated output beam towards the ROI <NUM>; and the receiver component <NUM> comprises an optical detector <NUM>. It is to be noted that other elements may be present but not illustrated for purposes of clarity. In use, actuation of the output end <NUM> of the optical fiber <NUM> causes a modulation of a spread of the output beam <NUM> emitted to the ROI <NUM>, which will be described in further detail below.

The laser <NUM> is configured to generate the output beam <NUM>. In certain embodiments, the generated output beam <NUM> comprises a plurality of sequential output beams. Further, each output beam <NUM> may be collimated and/or modulated by the collimator <NUM>. As previously discussed, the LiDAR system <NUM> may make use of a given internal beam path from a plurality of internal beam paths <NUM> for emitting the output beam <NUM> towards the ROI <NUM>. In one example, the given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the collimated and/or modulated output beam <NUM> from the collimator <NUM> towards the optical fiber <NUM>.

The optical fiber <NUM> is configured to transmit the output beam <NUM> from its input end <NUM> to its output end <NUM> along an optical axis of the optical fiber <NUM>. The output end <NUM> of the optical fiber <NUM> is spaced from the lens component <NUM> by a focal distance <NUM>. The lens component <NUM> is arranged to diffract the output beam <NUM> such that an angular spread of the output beam <NUM> is increased. More specifically, the output beam <NUM> can be considered to be emitted from the output end <NUM> of the optical fiber <NUM>, at time t1, with a first angular spread, Θ<NUM>. After diffraction by the lens component <NUM>, the output beam <NUM> has a second angular spread, Θ<NUM>, which is greater than the first angular spread Θ<NUM>. The LiDAR system <NUM> may be provided with one or more lens components <NUM> having different optical properties to one another and thus providing different second angular spread Θ<NUM>. A mechanism may be provided for switching between the different lens components and adjusting the focal distance <NUM>.

The actuator <NUM> comprises any component which can impart a movement (also referred to herein as "first optical fiber movement" and "optical fiber movement") to at least the output end <NUM> of the optical fiber <NUM> to modulate the relative positions of the output end <NUM> and the lens component <NUM>. In this respect, the actuator <NUM> further comprises a fixing component (not shown) to fix the optical fiber <NUM> at a first fixing point <NUM> along a length of the optical fiber <NUM>. The first fixing point <NUM> defines a pivot point along the length of the optical fiber <NUM> fixing the optical fiber <NUM> at the pivot point and permitting movement of the optical fiber <NUM> at the output end <NUM>. In certain embodiments, the actuator <NUM> comprises a piezoelectric component which can induce movement through a change in shape induced by electrical current. The controller component <NUM> is communicatively connected to the actuator <NUM> and configured to send instructions to the actuator <NUM> in order to control its movement and hence the movement of the output end <NUM> of the optical fiber <NUM>.

The lens component <NUM> comprises according to the invention a lens and in examples not according to the invention any other transmissive optical device, such as a prism, which increases an angle of spread of the output beam <NUM> (such as by refraction to disperse the light). The lens component <NUM> can be a simple or compound lens. In certain embodiments, the lens is a diverging lens. In certain embodiments, the lens component <NUM> permits transmission of light in a plurality of directions. For example, the lens component <NUM> permits both the output beam <NUM> and the input beam <NUM> to be transmitted therethrough.

The optical fiber movement comprises a plurality of positions of the output end <NUM> of the optical fiber <NUM>. Three such positions, at times t1, t2 and t3, for example, are illustrated in <FIG>, but it will be appreciated that the present technology is not limited to the illustrated three positions and can include more or fewer than three positions. At time t1, the output beam <NUM> is emitted from the output end <NUM> of the optical fiber <NUM> with a first angular spread, Θ<NUM>, and after diffraction by the lens component <NUM>, the output beam <NUM> has a second angular spread, Θ<NUM>, which is greater than the first angular spread Θ<NUM>. At time t2, the optical fiber <NUM> defines a first angular spread, Θ<NUM>, on emission from the output end <NUM> of the optical fiber <NUM>, and a second angular spread, Θ<NUM>, after diffraction by the lens component <NUM>, the second angular spread Θ<NUM> being greater than the first angular spread Θ<NUM>. At time t3, the optical fiber <NUM> defines a first angular spread, Θ<NUM>, on emission from the output end <NUM> of the optical fiber <NUM>, and a second angular spread, Θ<NUM>, after diffraction by the lens component <NUM>, the second angular spread Θ<NUM>'being greater than the first angular spread Θ<NUM>.

During the optical fiber <NUM> movement, a total spread of the output beam <NUM> emitted by the output end <NUM> of the optical fiber <NUM> is defined as a total first spread ΘTotal1. After diffraction by the lens component <NUM>, a total spread of the modulated output beam is defined as a total second spread ΘTotal2. The total second spread ΘTotal2'is greater than the total first spread ΘTotal1. In this manner, the output beam <NUM> scanning the region of interest is enhanced.

The actuator <NUM> is arranged to move in any manner which can induce the movement of the output end <NUM> of the optical fiber <NUM>. In certain embodiments, the actuator <NUM> is arranged to induce a swinging motion, in at least a single plane, in the output end <NUM> of the optical fiber <NUM>. In this respect, and as illustrated in <FIG>, in certain embodiments the actuator <NUM> is arranged to move backwards and forwards in opposing directions, as indicated by the arrows, in a single plane. The single plane may be a vertical plane or a horizontal plane. In other embodiments (not illustrated), the actuator <NUM> is arranged to move in two planes which can induce a swinging motion in a vertical and a horizontal plane of the output end <NUM> of the optical fiber <NUM>. In such alternative embodiments, the actuator <NUM> can be implemented as a multi-component device, such as multiple piezoelectric components.

In certain embodiments, a plane of the total first spread ΘTotal1 is the same as a plane of the optical fiber movement. In certain embodiments, a plane of the total second spread ΘTotal2 is the same as the plane of the optical fiber movement. The total first spread ΘTotal1 is between about <NUM> to about <NUM>°, and the total second spread ΘTotal2 is between about <NUM> to about <NUM>° or more than about <NUM> to about <NUM>°, in certain embodiments.

In embodiments in which the optical fiber movement is on two planes, the total first spread ΘTotal1 may also be on two planes. The two planes of the optical fiber movement may be the same as the two planes of the first spread ΘTotal1.

Thus, due to the movement of the output end <NUM> of the optical fiber <NUM>, an increased total angle of spread of the output beam <NUM> transmitted to the ROI <NUM> is obtained, which may then be utilized to derive multiple angular resolutions of the object <NUM> in the ROI <NUM>. As a result, in certain embodiments, a single LiDAR system <NUM> may scan and capture multiple angular resolutions of the object <NUM>. The number of LiDAR systems (or number of light sources and light detectors) required to scan an object can be minimized, thereby minimizing costs for operating the SDC and increasing a longevity of the LiDAR system due to fewer moving parts.

It is also contemplated that in certain embodiments, the LiDAR system <NUM> may be configured to rotate horizontally to scan the ROI <NUM>. In other embodiments, the light source component <NUM> may be configured to rotate horizontally to scan the ROI <NUM>. In this respect, one or both of the LiDAR system <NUM> and the light source component <NUM> may be positioned on a platform (not shown) configured to move horizontally. As an example, such a platform may be located inside the LiDAR system <NUM> or may be a part of the common housing <NUM>. In other embodiments, it is the scanner component <NUM> that is arranged to rotate horizontally. In certain embodiments, the horizontal rotation occurs simultaneously with the vertical and/or horizontal spreading of the output beam <NUM> created by the actuator <NUM> movement.

As previously discussed, the LiDAR system <NUM> may make use of a given internal beam path from a plurality of internal beam paths <NUM> for emitting the output beam <NUM> (generated by the light source component <NUM>) towards the surroundings <NUM> and for receiving the reflected beams by the receiver component <NUM>. In <FIG>, the output beam <NUM> incident on the ROI <NUM> at t1, t2 and t2 is represented as <NUM>t1, <NUM>t2, and <NUM>t3. It is contemplated that at least a portion of the output beam <NUM>t1, <NUM>t2, and <NUM>t3 may be reflected by the object <NUM> in the ROI <NUM>. Such reflected portion of the output beam is the input beam <NUM> and represented at times t1, t2 and t3 respectively by input beam <NUM>t1, <NUM>t2, and <NUM>t3 which may return back towards the LiDAR system <NUM> and be captured by the LiDAR system <NUM> via the receiver component <NUM>.

In certain embodiments, the LiDAR system <NUM> may make use of another given internal beam path from the plurality of internal beam paths <NUM> for providing the input beam <NUM>t1, <NUM>t2, and <NUM>t3 to the receiver component <NUM>. In one example, the another given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the input beams <NUM>t1, <NUM>t2, and <NUM>t3 from the scanner component <NUM> to the receiver component <NUM>. In another example, the another given internal beam path amongst the plurality of internal beam paths <NUM> may allow providing the input beams <NUM>t1, <NUM>t2, and <NUM>t3 directly from the ROI <NUM> to the receiver component <NUM> (without the input beam <NUM>t1, <NUM>t2, and <NUM>t3 passing through the scanner component <NUM>).

In at least some embodiments, a return pathway associated with the input beams <NUM>t1, <NUM>t2, and <NUM>t3 reflected from the ROI <NUM> towards the receiver component <NUM> may include a sub-portion that is a same path as one used by the output beams <NUM>t1, <NUM>t2, and <NUM>t3. As such, the return pathway may include the input beams <NUM>t1, <NUM>t2, and <NUM>t3 being incident on, and being reflected by, the lens component <NUM>. In other words, at least some of the output beams <NUM>t1, <NUM>t2, and <NUM>t3, and at least some of the input beams <NUM>t1, <NUM>t2, and <NUM>t3 may at least partially overlap or share a common propagation axis, so that they travel along substantially the same optical path (albeit in different directions).

In other embodiments, it is contemplated that the output beams <NUM>t1, <NUM>t2, and <NUM>t3 and the input beams <NUM>t1, <NUM>t2, and <NUM>t3 may include a sub-portion that is a different path to one another. In other words, in certain embodiments, the input beams <NUM>t1, <NUM>t2, and <NUM>t3 and the output beams <NUM>t1, <NUM>t2, and <NUM>t3 do not overlap or share a common propagation axis inside the LiDAR system <NUM>.

Turning now to <FIG>, in which different embodiments of the internal beam paths <NUM> between the light source component <NUM>, the receiver component <NUM> and the scanner component <NUM> are illustrated, and more specifically different embodiments of the return path of the input beam <NUM>. The scanner component <NUM> comprises the actuator <NUM> and the lens component <NUM> as described above. In the illustrated examples, the input beam <NUM>, which comprises a reflected portion of the output beam <NUM>, passes through the lens component <NUM> and is directed to the receiver component <NUM> through a portion of the optical fiber <NUM>, and (ii) a return optical fiber <NUM>.

<FIG> illustrate further the transmission of the output beam <NUM> and the input beam <NUM> of the LiDAR system <NUM> embodiment of <FIG>. In these embodiments, the optical fiber <NUM> is used for both transmission of the input beam <NUM> and for transmission of the output beam <NUM>. An optical circulator <NUM> connects the optical fiber <NUM> to the return optical fiber <NUM> which in turn is communicatively coupled to the receiver component <NUM> (<FIG>). The optical fiber <NUM> in these embodiments comprises a single channel through which light may propagate. In certain embodiments, the optical fiber <NUM> has cladding <NUM> and core <NUM> structure through which light can travel in two opposing directions at any one time (<FIG>). The optical circulator <NUM> is communicatively coupled to the controller component <NUM>. The controller component <NUM> can cause the optical circulator <NUM> to control the direction of light propagation through the optical fiber <NUM>. In other words, the controller component <NUM> can cause the optical circulator <NUM> to redirect the input beam <NUM> to the return optical fiber <NUM>. In an output phase, the optical circulator <NUM> is configured to allow light to be transmitted in a direction from the light source component <NUM> to the scanner component <NUM>. In an input phase, the optical circulator <NUM> is configured to transmit light in a direction from the scanner component <NUM> to the receiver component <NUM> (from the scanner component <NUM> to the optical circulator <NUM>, and from the optical circulator <NUM> to the receiver component <NUM> via the return optical fiber <NUM>). The controller component <NUM> can cause the modulation of the scanner component <NUM> between the input phase and the output phase based on one or more triggers. Such triggers include a timing of the emission of the output beam <NUM> by the light source, a position of the output end <NUM> of the optical fiber <NUM>, a position of the actuator <NUM>, a predetermined time, and a predetermined time interval, to name a few.

The embodiment of the LiDAR system <NUM> of <FIG> differs from that of <FIG> in that instead of the optical fiber <NUM> having a single propagation channel, a double channel optical fiber <NUM> is used for transmission of the input beam <NUM> and the output beam <NUM>. The double channel optical fiber <NUM> comprises two channels, one channel for propagation of the output beam <NUM>, and the other channel for propagation of the input beam <NUM>. As for the optical fiber <NUM>, the double channel optical fiber <NUM> is fixed at the first fixing point <NUM> and has an output end (not shown) which is arranged to be moved by the actuator <NUM>. The optical circulator <NUM> communicatively couples the return optical fiber <NUM> to the double channel optical fiber <NUM> (<FIG>). The cross-sectional structure of the double channel optical fiber <NUM> in certain embodiments is illustrated in <FIG> and comprises a core <NUM>, an inner cladding <NUM>, and an outer cladding <NUM>. In certain embodiments, the core <NUM> is arranged to transmit the output beam <NUM>, and the inner cladding <NUM> is arranged to transmit the input beam <NUM>. The optical circulator <NUM> is arranged to redirect the input beam <NUM> coming from the scanner component <NUM> to the return optical fiber <NUM>. In an output phase, the optical circulator <NUM> is configured to allow light to be transmitted in a direction from the light source component <NUM> to the scanner component <NUM>. In the input phase, the optical circulator <NUM> is configured to transmit light from the scanner component <NUM> to the optical circulator <NUM>, and from the scanner component <NUM> to the receiver component <NUM> via the return optical fiber <NUM>. As before, the controller component <NUM> is configured to cause the modulation of the scanner component <NUM> between the input phase and the output phase based on one or more triggers. Such triggers may include a timing of the emission of the output beam <NUM> by the light source, a position of the output end <NUM> of the optical fiber <NUM>, a position of the actuator <NUM>, a predetermined time, and a predetermined time interval, to name a few.

In another embodiment, instead of the double channel optical fiber <NUM>, an optical fiber with three internal pathways (not shown) is provided for transmission of the input beam <NUM> and the output beam <NUM>. In such embodiments, a coupler may be used.

The embodiment of the LiDAR system <NUM> of <FIG> differs from that of <FIG> in that the optical fiber <NUM> is used for transmission of the output beam <NUM>, and the return optical fiber <NUM> (also referred to herein as "second optical fiber") is used for transmission of the input beam <NUM> only (<FIG>). There is no shared pathway between the input beam <NUM> and the output beam <NUM>. In this respect, the return optical fiber <NUM> is communicatively coupled at an input end to the receiver component <NUM>, and at an output end to the scanner component <NUM>. In certain embodiments, the actuator <NUM> is coupled to the return optical fiber <NUM> for imparting a movement to the input end ("second optical fiber movement"). In certain other embodiments, the return optical fiber <NUM> is coupled to another actuator (not shown) for imparting the movement. The controller component <NUM> is configured to control the respective movements of the optical fiber <NUM> and the return optical fiber <NUM>, and in this respect, in certain embodiments, the movements of the optical fiber <NUM> and the return optical fiber <NUM> are coordinated. The movements of the optical fiber <NUM> and the return optical fiber <NUM> are simultaneous in certain embodiments.

The optical fiber <NUM> and the return optical fiber <NUM> may have any suitable configuration. On certain embodiments, the optical fiber <NUM> and the return optical fiber <NUM> each have the core <NUM> and the cladding <NUM> configuration (<FIG>) of <FIG>.

The embodiment of the LiDAR system <NUM> of <FIG> differs from that of <FIG> in that instead of the single return optical fiber <NUM> communicatively coupled at one end to the receiver component <NUM>, there may be provided a plurality of return optical fibers <NUM> and a plurality of receiver components <NUM>. Each one of the plurality of return optical fibers <NUM> may be connected at one end to the scanner component <NUM>, and at their other respective end to the given receiver component <NUM>. The plurality of return optical fibers <NUM> may be configured as a fiber bundle or as a fiber array (<FIG>). In yet further embodiments, the optical fiber <NUM> may comprise a plurality of optical fibers (not shown). The number of optical fibers and return optical fibers are not limited and may comprise any number suitable to the given application.

Any of the optical fiber <NUM>, return optical fiber <NUM>, and the double channel optical fiber <NUM> may also include an outer jacket layer which is not illustrated in the figures.

Turning now to the optical detector <NUM> of the receiver component <NUM>. <FIG> depicts a representative implementation of an optical detector <NUM> executed in accordance to a specific non-limiting embodiment of the present technology. As depicted, in certain embodiments, the optical detector <NUM> employs a fiber optic array <NUM> and a plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. The fiber optic array <NUM> comprises a plurality of optical fibers <NUM>. The plurality of optical fibers <NUM> associated with the fiber optic array <NUM> may be connected to the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N to form N optical paths <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N from the fiber optic array <NUM> to the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,.

In certain embodiments, the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N correspond, one-to-one, to the plurality of optical fibers <NUM> associated with the fiber optic array <NUM>, and each detector in the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may be configured to receive the input beam <NUM> through the fiber optic array <NUM>. In other words, a given optical fiber <NUM> of the fiber optic array <NUM> is associated with a given detector of the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N, in a one-to-one relationship. In these embodiments, a given optical fiber and a given detector are connected by a given optical path.

In the above one-to-one arrangement of the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N and the plurality of optical fibers <NUM>, an increased density of data points in the given ROI <NUM> may be achieved, and hence an increased resolution of the object <NUM> in the ROI <NUM>, as will be described below. By increased density of data points in the given ROI <NUM> is meant an increased number of output beams <NUM> incident in the ROI <NUM> in a given time, and subsequently an increased number of data points defined in the ROI <NUM> in the given time.

In embodiments with the one-to-one arrangement, the controller component <NUM> may be configured to monitor which of the optical fibers <NUM> of the fiber optic array <NUM> and its associated detector is receiving which input beam <NUM>. With this monitoring process, the light source component <NUM> may be configured to emit the output beam <NUM> without waiting for the detection of the prior input beam <NUM>, resulting, in certain embodiments, in the increased density of the data points.

It is contemplated that in certain other embodiments, instead of a one-to-one relationship between optical fibers of the fiber optic array <NUM> and the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N, a subset of the plurality of optical fibers <NUM> associated with the fiber optic array <NUM> may have a common detector from the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. In these embodiments, there would be a plurality of optical paths associated with a single detector. In such embodiments, reducing the number of detectors may also result in a costs saving. Also, in certain embodiments the common detector from the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may require less power and space thereby, saving some physical space power requirement while implementing the LiDAR system <NUM>.

In certain embodiments, the optical detector <NUM> may also include an optical fiber connector <NUM> and a plurality of micro-lens <NUM>-<NUM>, <NUM>-<NUM>,. The optical fiber connector <NUM> may be configured to connect the plurality of optical fibers <NUM> associated with the fiber optic array <NUM> to the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N to form the N optical paths <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N from the fiber optic array <NUM> to the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. The plurality of micro-lens <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may correspond, one-to-one, to the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N, and may be configured to converge the input beams <NUM> transmitted via the plurality of optical fibers <NUM> associated with the fiber optic array <NUM> to the corresponding plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,.

Turning now to the optical fibers <NUM>, it is contemplated that in certain embodiments, the plurality of optical fibers <NUM> may be constructed as the fiber optic array <NUM> in any manner, such as by laser welding, butt welding, soldering, or the like. Further, at least some of the optical fibers in the fiber optic array <NUM> may have a polarization-maintaining axis which is oriented or aligned based on positioning of the plurality of optical fibers. As an example, the polarization-maintaining axis of the optical fibers <NUM> are all aligned to be substantially parallel to a single plane. As such, the polarization-maintaining axis may assist the optical fibers <NUM> to control and maintain certain polarizations for example linear polarization.

The optical fibers <NUM> may have any suitable configuration. In certain embodiments, at least some of the optical fibers <NUM> may have a circular cross-section. In certain other embodiments, at least some of the optical fibers <NUM> may have a cross-section which is not circular, such as a polygonal (e.g., octagon, hexagon or other suitable polygon) shape, or a curved circumference having at least one flat (e.g., a flatted side on a circular cross section), or any other shape. The optical fibers <NUM> may have any suitable refractive index.

In certain embodiments, at least some of the optical fibers <NUM> may further include a filter, such as a fiber Bragg grating (FBG) filters (not depicted) to filter certain wavelengths of light. In certain embodiments, FBG filters reflect certain wavelengths of light and transmit other wavelengths.

It is contemplated that the individual optical fibers <NUM> in the fiber optic array <NUM> may be arranged in any manner such as in aligned rows, staggered rows, circular or spiral configuration, or the like. It will be appreciated that the physical characteristics of the fiber optic array <NUM> as well as the individual optical fibers <NUM> are not limited. Similarly, receiving ends of the plurality of optical fibers <NUM> associated with the fiber optic array <NUM> through which the input beam <NUM> is received can be arranged in any manner as a two dimensional array, such as with equal or unequal spacing. The fiber optic array <NUM> may have an equal or unequal number of receiving ends along an x-axis or a y-axis.

In certain embodiments, there is provided a receiving lens (not shown) configured to focus the input beams <NUM> to one of the receiving ends of the optical fibers <NUM> of the fiber optic array <NUM>. In certain embodiments, a distance between the receiving lens and one of the receiving ends of the optical fibers <NUM> of the fiber optic array <NUM> comprises a focal distance of the input beam <NUM>. The end face of the fiber optic array <NUM> may be on a focal plane of the receiving lens. Further, for a given detection time interval, the receiving lens may be configured to focus different input beams <NUM> to different receiving ends of the optical fibers <NUM> of the fiber optic array <NUM>. In this respect, in certain embodiments the receiving lens may be configured to move or tilt in a suitable manner such that at least one the input beams <NUM> may be focused on at least one of plurality of optical fibers <NUM>. The movement of the receiving lens may be controlled by the controller component <NUM>.

As previously discussed, in certain embodiments, the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may be configured to detect at least an optical signal of the input beams <NUM> and produce a corresponding electrical signal. For example, if the input beam <NUM> comprises an optical pulse, the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may detect the optical pulses and produce electrical signals such as electrical current or voltage pulses that correspond to the detected optical signals.

It is contemplated that the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N may be implemented as photodetectors with one or more avalanche photodiodes (APDs), one or more single-photon avalanche diodes (SPADs), one or more PN photodiodes (e.g., a photodiode structure formed by a p-type semiconductor and a n-type semiconductor), one or more PIN photodiodes (e.g., a photodiode structure formed by an undoped intrinsic semiconductor region located between p-type and n-type regions), and the like.

Turning now to the controller component <NUM>, in certain embodiments, the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N are communicatively coupled to the controller component <NUM>. The controller component <NUM> is configured to receive the electrical signals from the plurality of detectors <NUM>-<NUM>, <NUM>-<NUM>,. <NUM>-N and may be further be configured to analyse the electrical signals to detect the object <NUM> in the ROI <NUM>. It is contemplated that the controller component <NUM> may use any suitable techniques (such as, techniques based on determining "Time-of-Flight" as previously discussed) for detecting objects without departing from the principles presented herein.

The controller component <NUM> may further be communicatively coupled to the light source component <NUM> in such a manner that the controller component <NUM> may be configured to control the emissions from the light source component <NUM>. In one embodiment, the emission of the next output beam(s) after the emission of the output beam <NUM> may be coordinated with detection of the input beams <NUM> by the optical detector <NUM>. As such, the controller component <NUM> may be configured to cause the light source component <NUM> to emit the output beam(s) after the input beam <NUM> has been detected. In other embodiments, the light source component <NUM> may be configured to operate independently of the optical detector <NUM>. That is, the light source component <NUM> may emit the next output beam(s) without coordinating with the detection of the input beams <NUM> by the optical detector <NUM>.

Now turning to <FIG>, a flowchart of a method <NUM> for detecting objects in a region of interest is illustrated, in accordance with various non-limiting embodiments of the present technology.

In some non-limiting embodiments of the present technology, the method <NUM> may be implemented by the controller component <NUM> communicatively connected to the LiDAR system <NUM>. As previously discussed, in at least some non-limiting embodiments of the present technology, the controller component <NUM> includes one or more processors and may be implemented in a similar manner to the electronic device <NUM> and/or the computer system <NUM>. The method <NUM> begins at step <NUM>.

At step <NUM>, the controller component <NUM> provides instructions, a control signal, and/or a trigger signal to the light source component <NUM> indicating when the radiation source component <NUM> (such as the light source component) is to emit the output beam <NUM> towards the optical fiber <NUM>. In one or more steps associated with the method <NUM>, the controller component <NUM> may be configured to cause the light source component <NUM> to emit the output beam <NUM> in certain conditions. Such conditions may include one or more of: upon operation of the vehicle <NUM> in self-driving mode; when the vehicle <NUM> is in motion irrespective of the driving mode; when the vehicle <NUM> is stationary; when the vehicle <NUM> is initially turned on; at a predetermined time or location; and based on a manual operation performed by a user operating the vehicle <NUM> etc..

Step <NUM>: causing an actuator coupled to the first optical fiber to impart a first optical fiber movement to the output end of the first optical fiber, the first optical fiber movement comprising a plurality of positions of the output end of the first optical fiber defining a total first spread of the output beam when the output end is moving; wherein an optical lens positioned by a focal distance from the output end of the first optical fiber is configured to transmit the output beam through the optical lens towards the region of interest and to cause the output beam to spread by a second spread of the output beam, the second spread being larger than the first spread, and a total second spread of the output beam when the output end is moving being larger than the total first spread.

In Step <NUM> of the method <NUM>, the processor causes the actuator <NUM> coupled to the optical fiber <NUM> to impart a movement to the output end <NUM> of the optical fiber <NUM>. The movement comprises a plurality of positions of the output end <NUM> of the optical fiber <NUM> which define a total first spread ΘTotal1 of the output beam <NUM> when the output end <NUM> is moving and in the plurality of positions. The output beam <NUM> is transmitted through the lens component <NUM>, which is positioned at a distance corresponding to the focal distance <NUM> from the output end <NUM> of the optical fiber <NUM>. The lens component <NUM> is configured to transmit the output beam <NUM> towards the ROI <NUM> and to cause the output beam <NUM> to spread by the second spread Θ<NUM>', the second spread Θ<NUM>' being larger than the first spread Θ<NUM>. The total second spread ΘTotal2 of the output beam <NUM> when the output end <NUM> is moving is thus larger than the total first spread ΘTotal1.

In one or more non-limiting steps associated with the method <NUM>, the controller component <NUM> receives a detected optical signal from the input beam <NUM>, such as from the receiver component <NUM> or the optical detector <NUM>. In embodiments where the optical detector <NUM> is a fiber optic array <NUM>, the method <NUM> comprises determining an association between a given detector of the plurality of detectors <NUM>, the detected optical signal and a given output beam <NUM>. In certain embodiments in which the LiDAR system includes the optical circulator <NUM>, the method comprises causing the input beam <NUM> to be re-directed towards the receiver component <NUM>.

In one or more non-limiting steps associated with the method <NUM>, in order to determine the object <NUM> in the ROI <NUM>, the controller component <NUM> may be configured to determine a "time-of-flight" value for a light beam based on timing information associated with (i) when a given light beam (e.g. the output beam <NUM>) was emitted by light source component <NUM>, and (ii) when a portion of the light beam was detected or received by the receiver component <NUM>.

The method <NUM> further comprises the processor selectively controlling the actuator <NUM> to modulate the optical fiber movement to control the angle of spread of the output beam <NUM> in the ROI <NUM>.

In one or more non-limiting steps associated with the method <NUM>, the processor may control the emission of a next output beam <NUM> after the emission of an earlier output beam <NUM> and such emission may be coordinated with detection of the input beam by the optical detector <NUM>. As such, the controller component <NUM> may be configured to cause the light source component <NUM> to emit the output beam <NUM> after the input beam <NUM> has been detected.

In one or more non-limiting steps associated with the method <NUM>, the light source component <NUM> may be configured to operate independently of the optical detector <NUM>. That is, the light source component <NUM> may emit the output beam <NUM> without coordinating with the detection of the input beam <NUM> detected by the optical detector <NUM>.

Claim 1:
A LiDAR system (<NUM>) for detecting objects (<NUM>) in a region of interest (<NUM>), the system (<NUM>) comprising:
a radiation source (<NUM>) for emitting an output beam (<NUM>);
a first optical fiber (<NUM>) with an input end (<NUM>) communicatively coupled to the radiation source (<NUM>) for receiving the output beam (<NUM>) and configured to transmit the output beam (<NUM>) having an optical axis along the first optical fiber (<NUM>) to an output end (<NUM>) for emitting the output beam (<NUM>), the output beam (<NUM>) having a first spread (Θ<NUM>); and
an actuator (<NUM>) coupled to the first optical fiber (<NUM>) for imparting a first optical fiber movement to the output end (<NUM>) of the first optical fiber (<NUM>), the first optical fiber movement comprising a plurality of positions of the output end (<NUM>) of the first optical fiber (<NUM>) defining a total first spread (ΘTotal1) of the output beam (<NUM>) when the output end (<NUM>) is moving;
the system being characterized by further comprising:
an optical lens (<NUM>) positioned by a focal distance from the output end (<NUM>) of the first optical fiber (<NUM>), the optical lens (<NUM>) being configured to transmit the output beam (<NUM>) through the optical lens (<NUM>) towards the region of interest (<NUM>) and to cause the output beam (<NUM>) to spread by a second spread (Θ<NUM>) of the output beam (<NUM>), the second spread (Θ<NUM>) being larger than the first spread (Θ<NUM>), and a total second spread (ΘTotal2) of the output beam (<NUM>) when the output end (<NUM>) is moving being larger than the total first spread (ΘTotal1); and
a processor (<NUM>) for controlling the actuator (<NUM>) and the first optical fiber movement to modulate an angle of spread of radiation of the output beam (<NUM>) in the region of interest (<NUM>).