Patent Description:
Frequency Modulated Continuous Wave (FMCW) LIDAR directly measures range and velocity of an object by directing a frequency modulated, collimated light beam at a target. Both range and velocity information of the target can be derived from FMCW LIDAR signals. Designs and techniques to increase the accuracy of LIDAR signals are desirable.

The automobile industry is currently developing autonomous features for controlling vehicles under certain circumstances. According to SAE International standard J3016, there are <NUM> levels of autonomy ranging from Level <NUM> (no autonomy) up to Level <NUM> (vehicle capable of operation without operator input in all conditions). A vehicle with autonomous features utilizes sensors to sense the environment that the vehicle navigates through. Acquiring and processing data from the sensors allows the vehicle to navigate through its environment. Autonomous vehicles may include one or more FMCW LIDAR devices for sensing its environment. <CIT> relates to a LiDAR system that has a field of view and includes a polarization-based waveguide splitter, which includes a first splitter port, a second splitter port and a common splitter port. A laser is optically coupled to the first splitter port via a single-polarization waveguide. An objective lens of <CIT> optically couples each optical emitter of an array of optical emitters to a respective unique portion of the field of view. An optical switching network of <CIT> is coupled via respective dual-polarization waveguides between the common splitter port and the array of optical emitters. An optical receiver of <CIT> is optically coupled to the second splitter port via a dual-polarization waveguide and is configured to receive light reflected from the field of view. A controller of <CIT>, coupled to the optical switching network, is configured to cause the optical switching network to route light from the laser to a sequence of the optical emitters according to a temporal pattern. <NPL>) discuss the ability to couple an arbitrary polarization state from a fiber to the TE-mode of a single waveguide in an integrated silicon photonics circuit with an extinction ratio larger than <NUM> dB, measured between the output ports of the integrated photonic circuit. To achieve this a 2D- grating coupler and a Mach-Zehnder Interferometer were combined in that article. <CIT> provides a polarization insensitive optical phased array. A polarization rotator splitter or two-dimensional grating coupler of <CIT> provides two components of co-polarized light. Each component is routed therein to a separate optical phased array (OPA) component, and light output of one of the OPA components is rotated in polarization by use of a half wave plate. A polarization controller of <CIT> receives and controls the two components of co-polarized light and then passes the controlled light to the two OPA components. <CIT> relates to a coherent N to one wave combiner having N≥<NUM> inputs and a single output. The apparatus of <CIT> comprises a coherent wave superposition network that is linear, reciprocal and lossless, and which includes one or more series-connected <NUM>×<NUM> wave splitters configured such that the contribution of each of the N inputs to the output is adjustable in both amplitude and relative phase; wherein the coherent wave superposition network provides N-<NUM> control ports at which waves not coupled to the output are emitted; and N-<NUM> detectors disposed at the control ports; wherein amplitude splits and phase shifts of the coherent wave superposition network of <CIT> are determined in operation by adjusting them in sequence to sequentially null signals from the N-<NUM> detectors.

According to an aspect of the present invention, there is provided a light detection and ranging (LIDAR) system as set out in independent claim <NUM>. According to another aspect of the present invention, there is provided a coherent LIDAR pixel as set out in independent claim <NUM>. Other embodiments are described in the dependent claims.

Non-limiting and non-exhaustive implementations of the invention are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various views unless otherwise specified.

Implementations of active polarization control for LIDAR pixels are described herein. In the following description, numerous specific details are set forth to provide a thorough understanding of the implementations.

Throughout this specification, several terms of art are used. These terms are to take on their ordinary meaning in the art from which they come, unless specifically defined herein or the context of their use would clearly suggest otherwise. For the purposes of this disclosure, the term "autonomous vehicle" includes vehicles with autonomous features at any level of autonomy of the SAE International standard J3016.

In aspects of this disclosure, visible light may be defined as having a wavelength range of approximately <NUM> - <NUM>. Non-visible light may be defined as light having wavelengths that are outside the visible light range, such as ultraviolet light and infrared light. Infrared light having a wavelength range of approximately <NUM> - <NUM> includes near-infrared light. In aspects of this disclosure, near-infrared light may be defined as having a wavelength range of approximately <NUM> - <NUM>.

In aspects of this disclosure, the term "transparent" may be defined as having greater than <NUM>% transmission of light. In some aspects, the term "transparent" may be defined as a material having greater than <NUM>% transmission of visible light.

Frequency Modulated Continuous Wave (FMCW) LIDAR directly measures range and velocity of an object by directing a frequency modulated, collimated light beam at the object. The light that is reflected from the object is combined with a tapped version of the beam. The frequency of the resulting beat tone is proportional to the distance of the object from the LIDAR system once corrected for the doppler shift that requires a second measurement. The two measurements, which may or may not be performed at the same time, provide both range and velocity information.

FMCW LIDAR can take advantage of integrated photonics for improved manufacturability and performance. Integrated photonic systems typically manipulate single optical modes using micron-scale waveguiding devices.

Coherent light generated by FMCW LIDAR reflecting off of a diffuse surface produces a speckle pattern, which is characterized by a random intensity and phase profile in the reflected optical field. This speckle field reduces the amount of power which can couple back into a single-mode optical system. As an FMCW LIDAR beam is scanned across a diffuse surface, the reflected speckle field has time-varying behavior which leads to a broadened signal spectrum.

Implementations of the disclosure include one or more coherent pixels with active polarization control. Light in the coherent pixel may be evenly split into two "arms" and then the amplitude and relative phase of the two arms of the pixel can be arbitrarily manipulated. The light in the two arms may be passed into a dual-polarization optical coupler. This coupler may couple the light into free space with two orthogonal polarizations.

By controlling the amplitude and phase of the two arms of the coherent pixel, the output polarization of light can be arbitrarily selected. Alternatively, by controlling the amplitude and phase of the two arms of the coherent pixel, it can be made arbitrarily sensitive to receiving a particular polarization of light.

<FIG> illustrates an example LIDAR device <NUM> not according to the invention including a LIDAR pixel <NUM> having active polarization control not according to the invention. LIDAR pixel <NUM> in <FIG> includes a 1x2 splitter <NUM>, an optical mixer <NUM>, a grating coupler <NUM>, and a polarization controller <NUM>. Polarization controller <NUM> includes a 2x2 splitter <NUM> and a phase shifter <NUM>. Polarization controller <NUM> includes a top arm <NUM> and a bottom arm <NUM>.

Light <NUM> entering LIDAR pixel <NUM> can be split by a splitter (e.g. 1x2 splitter <NUM>). Light <NUM> may be infrared laser light generated by a laser (e.g. a continuous wave laser). In some implementations, the laser light may be collimated. The split ratio of splitter <NUM> may be selected as desired for the FMCW LIDAR system. A portion (e.g. between <NUM>% and <NUM>%) of this split light propagates through an interconnect <NUM> to 2x2 splitter <NUM>. The remaining light (e.g. between <NUM>% and <NUM>%) leaving the bottom output port of 1x2 splitter <NUM> propagates through an interconnect <NUM> to optical mixer <NUM>. In some implementations, input light <NUM> and 1x2 splitter <NUM> may be replaced with two independent light sources.

In the transmit direction, polarization controller <NUM> is configured to receive a first portion of the split light that is split by 1x2 splitter <NUM>. The first portion of the split light propagates to polarization controller <NUM> by way of interconnect <NUM>. Light entering the 2x2 splitter <NUM> is split between its two output ports. The top output port of 2x2 splitter <NUM> starts the "top arm" <NUM> of polarization controller <NUM> and the bottom port of 2x2 splitter <NUM> starts the "bottom arm" <NUM> of polarization controller <NUM>. In some implementations, the split ratio between the top port and the bottom port of 2x2 splitter <NUM> is <NUM>:<NUM>, however other split ratios may be selected if desired. Light in the top arm <NUM> passes through phase shifter <NUM> which can be controlled in order to arbitrarily set the phase of the light in top arm <NUM> relative to bottom arm <NUM>.

Phase shifter <NUM> sets a phase of top-light propagating in top arm <NUM> relative to bottom-light propagating in bottom arm <NUM>. In <FIG>, processing logic <NUM> is configured to control phase shifter <NUM>. Light in top arm <NUM> propagates into a top port <NUM> of grating coupler <NUM> while light in the bottom arm <NUM> propagates into a bottom port <NUM> of grating coupler <NUM>. Grating coupler <NUM> may be a dual-polarization grating coupler configured to outcouple a first polarization orientation of light and a second polarization orientation of light that is orthogonal to the first polarization orientation of light. Grating coupler <NUM> couples light from top port <NUM> into a first polarization beam (e.g. "TE" polarized beam) and couples light from bottom port <NUM> into a second polarization beam (e.g. "TM" polarized beam), in some implementations. These two orthogonal beams superimpose to form an output beam of light <NUM> with arbitrary polarization which is determined by the state of phase shifter <NUM>. Thus, grating coupler <NUM> is configured to output an output beam of light <NUM> in response to receiving top-light propagating in top arm <NUM> and bottom-light propagating in bottom arm <NUM>.

In the illustrated implementation, grating coupler <NUM> is presented as the "antenna.

In the receive direction, arbitrarily-polarized light <NUM> enters grating coupler <NUM>. Light with the first polarization couples into top arm <NUM> and passes through phase shifter <NUM>. Light with the second polarization couples into bottom arm <NUM>. The light in both arms then passes through 2x2 splitter <NUM>. Phase shifter <NUM> can be controlled such that a maximum amount of light couples into the bottom port of 2x2 splitter <NUM> which connects to interconnect <NUM>. The light in interconnect <NUM> is fed into optical mixer <NUM>, which combines it with the light in interconnect <NUM>. The light in interconnect <NUM> is the remaining light from the first portion of light propagating in interconnect <NUM>. Thus, optical mixer <NUM> is configured to output an output signal <NUM> in response to receiving the remaining portion of the split light and the reflected beam <NUM> (propagating through bottom arm <NUM> and 2x2 splitter <NUM>). Optical mixer <NUM> converts these mixed optical signals (light in interconnects <NUM> and interconnects <NUM>) to the electrical domain, producing one or more output signals <NUM>. For example, output signal <NUM> may be an electronic signal such as a "beat signal.

As described above, phase shifter <NUM> sets a phase of top-light propagating in top arm <NUM> relative to bottom-light propagating in bottom arm <NUM>. In the illustrated implementation of <FIG>, processing logic <NUM> is configured to control phase shifter <NUM> in response to receiving beat signal <NUM> from LIDAR pixel <NUM>. In some implementations, processing logic <NUM> is configured to drive phase shifter <NUM> to different phase values and then select the phase value that generates the beat signal <NUM> with the highest amplitude and drive that selected phase value onto phase shifter <NUM> to increase or even maximize a signal level of the beat signal <NUM>. As different target surfaces reflect different polarization orientations, processing logic <NUM> may drive phase shifter <NUM> to different phase values that increase an amplitude of beat signal <NUM> due to the different polarizations of light reflected by different target surfaces. In some implementations, processing logic <NUM> receives beat signals <NUM> from a plurality of LIDAR pixels <NUM> and generates an image <NUM> from the plurality of beat signals.

<FIG> illustrates an example LIDAR pixel <NUM> according to the invention including a first phase shifter <NUM> and a second phase shifter <NUM> for active polarization control, in accordance with implementations of the disclosure. Light <NUM> entering the coherent pixel <NUM> is split by a splitter (e.g. 1x2 splitter <NUM>). The split ratio of this splitter may be selected as desired for the FMCW LIDAR system. A portion of this split light (e.g. between <NUM>% and <NUM>%) propagates through an interconnect <NUM> to a 2x2 splitter <NUM>. The remaining light (e.g. between <NUM>% and <NUM>%) leaving the bottom output port of the 1x2 splitter propagates through an interconnect <NUM> to an optical mixer <NUM>. In some implementations not according to the invention, input light <NUM> and 1x2 splitter <NUM> may be replaced with two independent light sources.

In the transmit direction, light entering the 2x2 splitter <NUM> is split between its two output ports (which constitute the first stage of the polarization controller <NUM> with a "top arm" and "bottom arm"). The first stage includes first 2x2 splitter <NUM> and first phase shifter <NUM>. In an implementation of coherent pixel <NUM>, the split ratio is <NUM>:<NUM>, however other split ratios may be selected if desired. Light in the top arm passes through a first phase shifter <NUM> which can be controlled in order to arbitrarily set the phase of the light in the top arm relative to the bottom arm.

The light in the top and bottom arms enter a second 2x2 splitter <NUM> (the second stage of polarization controller <NUM>). The second stage includes second 2x2 splitter <NUM> and second phase shifter <NUM>. Depending on the phase shift of the two arms, the amplitude of light leaving the top and bottom ports of splitter <NUM> can be controlled. Light in the top arm of this second stage passes through second phase shifter <NUM> which can be controlled to arbitrarily set the relative phase of the top and bottom arms of the second stage. Light in the top arm propagates into the top port <NUM> of the dual-polarization grating coupler <NUM> while light in the bottom arm <NUM> propagates into the bottom port <NUM> of the dual-polarization grating coupler <NUM>. Top port <NUM> is optically coupled to second phase shifter <NUM>. The grating coupler <NUM> couples light from the top port <NUM> into a first polarized beam and couples light from the bottom port <NUM> into a second orthogonal polarized beam. These two orthogonal beams superimpose to form a beam of light <NUM> with arbitrary polarization which is determined by the state of the two phase shifters <NUM> and <NUM>.

In the illustrated implementation, dual-polarization grating coupler <NUM> is presented as the "antenna.

In the receive direction, arbitrarily-polarized light <NUM> enters dual-polarization grating coupler <NUM>. Light with the first polarization couples into the top arm <NUM> of the second stage and passes through second phase shifter <NUM>. Light with the second polarization couples into the bottom arm <NUM> of the second stage. The light in both arms then passes through the 2x2 splitter <NUM>, entering the first stage. Light in the top arm of the first stage passes through first phase shifter <NUM>. Light in both arms of the first stage pass through the 2x2 splitter <NUM>. First phase shifter <NUM> and second phase shifter <NUM> can be controlled such that a maximum amount of light couples into the bottom port of 2x2 splitter <NUM> which connects to interconnect <NUM>. The light in <NUM> is fed into the optical mixer <NUM>, which combines it with the light in interconnect <NUM>. Optical mixer <NUM> converts this mixed optical signal to the electrical domain, producing one or more output signals <NUM>.

<FIG> demonstrates how more than one coherent pixel <NUM> with active polarization control can be combined into a focal plane array (FPA) <NUM>. Coherent pixel <NUM> may be implemented with the designs of LIDAR pixel <NUM> according to the invention or LIDAR pixel <NUM> not according to the invention. Multiple optical channels <NUM> enter the array. These can be discrete parallel channels or switched between the pixels using an optical circuit. In some implementations, the same continuous wave (CW) infrared laser provides laser light for each of the optical channels <NUM>. Waveguides, optical fibers, micro-optical components, optical amplifiers and/or photonic circuits may be implemented so that each of channels <NUM> receives a portion of the laser light from the CW infrared laser. Light enters each coherent pixel (e.g. <NUM>) which manipulates, transmits, and receives the light with arbitrary polarizations <NUM> as previously described. The received light is converted into an array of output electrical signals <NUM>. Image processing may be performed on the array of output electrical signals <NUM> to generate an image of an environment imaged by FPA <NUM>.

<FIG> demonstrates how the array of coherent pixels with active polarization control can be used in an FMCW LIDAR system <NUM>, in accordance with implementations of the disclosure. In <FIG>, a lens <NUM> takes input from active polarization controlled coherent pixel array <NUM>. Active polarization controlled coherent pixel array <NUM> may include FPA <NUM> in some implementations. Lens <NUM> also receives output beams with a range of angles <NUM>. The pixels in the active polarization controlled coherent pixel array <NUM> are controlled by an FPA driver module <NUM>. An individual pixel in the array may be turned on to emit and receive light or multiple simultaneous pixels in the array may be turned on to simultaneously emit or receive light. Light emitted by the active polarization controlled coherent pixel array <NUM> is produced by a laser array with Q parallel channels <NUM>. This laser array may be integrated directly with the active polarization controlled coherent pixel array <NUM> or may be a separate module packaged alongside active polarization controlled coherent pixel array <NUM>. The laser array is controlled by a laser driver module <NUM>, which receives control signals from a LIDAR processing engine <NUM> via a digital to analog converter (DAC) <NUM>. LIDAR processing engine <NUM> also controls FPA driver <NUM> and sends and receives data from active polarization controlled coherent pixel array <NUM>.

LIDAR processing engine <NUM> includes a microcomputer <NUM>. Microcomputer <NUM> may process data coming from FPA system <NUM> and send control signals to FPA system <NUM> via FPA driver <NUM> and laser controller <NUM>. Signals are received by N-channel receiver <NUM> of LIDAR processing engine <NUM>. These incoming signals are digitized using a set of M-channel analog to digital converters (ADC) <NUM> and microcomputer <NUM> is configured to receive the digitized version of the signals.

<FIG> illustrates an example autonomous vehicle <NUM> that may include the LIDAR designs of <FIG> and of the unclaimed example of <FIG>. The illustrated autonomous vehicle <NUM> includes an array of sensors configured to capture one or more objects of an external environment of the autonomous vehicle and to generate sensor data related to the captured one or more objects for purposes of controlling the operation of autonomous vehicle <NUM>. <FIG> shows sensor 433A, 433B, 433C, 433D, and 433E. <FIG> illustrates a top view of autonomous vehicle <NUM> including sensors 433F, <NUM>, <NUM>, and <NUM> in addition to sensors 433A, 433B, 433C, 433D, and 433E. Any of sensors 433A, 433B, 433C, 433D, 433E, 433F, <NUM>, <NUM>, and/or <NUM> may include LIDAR devices that include the designs of <FIG>. <FIG> illustrates a block diagram of an example system <NUM> for autonomous vehicle <NUM>. For example, autonomous vehicle <NUM> may include powertrain <NUM> including prime mover <NUM> powered by energy source <NUM> and capable of providing power to drivetrain <NUM>. Autonomous vehicle <NUM> may further include control system <NUM> that includes direction control <NUM>, powertrain control <NUM>, and brake control <NUM>. Autonomous vehicle <NUM> may be implemented as any number of different vehicles, including vehicles capable of transporting people and/or cargo and capable of traveling in a variety of different environments. It will be appreciated that the aforementioned components <NUM> - <NUM> can vary widely based upon the type of vehicle within which these components are utilized.

The implementations discussed hereinafter, for example, will focus on a wheeled land vehicle such as a car, van, truck, or bus. In such implementations, prime mover <NUM> may include one or more electric motors and/or an internal combustion engine (among others). The energy source may include, for example, a fuel system (e.g., providing gasoline, diesel, hydrogen), a battery system, solar panels or other renewable energy source, and/or a fuel cell system. Drivetrain <NUM> may include wheels and/or tires along with a transmission and/or any other mechanical drive components suitable for converting the output of prime mover <NUM> into vehicular motion, as well as one or more brakes configured to controllably stop or slow the autonomous vehicle <NUM> and direction or steering components suitable for controlling the trajectory of the autonomous vehicle <NUM> (e.g., a rack and pinion steering linkage enabling one or more wheels of autonomous vehicle <NUM> to pivot about a generally vertical axis to vary an angle of the rotational planes of the wheels relative to the longitudinal axis of the vehicle). In some implementations, combinations of powertrains and energy sources may be used (e.g., in the case of electric/gas hybrid vehicles). In some implementations, multiple electric motors (e.g., dedicated to individual wheels or axles) may be used as a prime mover.

Direction control <NUM> may include one or more actuators and/or sensors for controlling and receiving feedback from the direction or steering components to enable the autonomous vehicle <NUM> to follow a desired trajectory. Powertrain control <NUM> may be configured to control the output of powertrain <NUM>, e.g., to control the output power of prime mover <NUM>, to control a gear of a transmission in drivetrain <NUM>, thereby controlling a speed and/or direction of the autonomous vehicle <NUM>. Brake control <NUM> may be configured to control one or more brakes that slow or stop autonomous vehicle <NUM>, e.g., disk or drum brakes coupled to the wheels of the vehicle.

Other vehicle types, including but not limited to off-road vehicles, all-terrain or tracked vehicles, or construction equipment will necessarily utilize different powertrains, drivetrains, energy sources, direction controls, powertrain controls and brake controls, as will be appreciated by those of ordinary skill having the benefit of the instant disclosure. Moreover, in some implementations some of the components can be combined, e.g., where directional control of a vehicle is primarily handled by varying an output of one or more prime movers. Therefore, implementations disclosed herein are not limited to the particular application of the herein-described techniques in an autonomous wheeled land vehicle.

In the illustrated implementation, autonomous control over autonomous vehicle <NUM> is implemented in vehicle control system <NUM>, which may include one or more processors in processing logic <NUM> and one or more memories <NUM>, with processing logic <NUM> configured to execute program code (e.g. instructions <NUM>) stored in memory <NUM>. Processing logic <NUM> may include graphics processing unit(s) (GPUs) and/or central processing unit(s) (CPUs), for example. Vehicle control system <NUM> may be configured to control powertrain <NUM> of autonomous vehicle <NUM> in response to an output of the optical mixer of a LIDAR pixel such as LIDAR pixel <NUM> or <NUM>. Vehicle control system <NUM> may be configured to control powertrain <NUM> of autonomous vehicle <NUM> in response to outputs from a plurality of LIDAR pixels. Vehicle control system <NUM> may be configured to control powertrain <NUM> of autonomous vehicle <NUM> in response to outputs from microcomputer <NUM> generated based on signals received from FPA system <NUM>.

Sensors 433A - 433I may include various sensors suitable for collecting data from an autonomous vehicle's surrounding environment for use in controlling the operation of the autonomous vehicle. For example, sensors 433A - 433I can include RADAR unit <NUM>, LIDAR unit <NUM>, 3D positioning sensor(s) <NUM>, e.g., a satellite navigation system such as GPS, GLONASS, BeiDou, Galileo, or Compass. The LIDAR designs of <FIG> may be included in LIDAR unit <NUM>. LIDAR unit <NUM> may include a plurality of LIDAR sensors that are distributed around autonomous vehicle <NUM>, for example. In some implementations, 3D positioning sensor(s) <NUM> can determine the location of the vehicle on the Earth using satellite signals. Sensors 433A - 433I can optionally include one or more ultrasonic sensors, one or more cameras <NUM>, and/or an Inertial Measurement Unit (IMU) <NUM>. In some implementations, camera <NUM> can be a monographic or stereographic camera and can record still and/or video images. Camera <NUM> may include a Complementary Metal-Oxide-Semiconductor (CMOS) image sensor configured to capture images of one or more objects in an external environment of autonomous vehicle <NUM>. IMU <NUM> can include multiple gyroscopes and accelerometers capable of detecting linear and rotational motion of autonomous vehicle <NUM> in three directions. One or more encoders (not illustrated) such as wheel encoders may be used to monitor the rotation of one or more wheels of autonomous vehicle <NUM>.

The outputs of sensors 433A - 433I may be provided to control subsystems <NUM>, including, localization subsystem <NUM>, trajectory subsystem <NUM>, perception subsystem <NUM>, and control system interface <NUM>. Localization subsystem <NUM> is configured to determine the location and orientation (also sometimes referred to as the "pose") of autonomous vehicle <NUM> within its surrounding environment, and generally within a particular geographic area. The location of an autonomous vehicle can be compared with the location of an additional vehicle in the same environment as part of generating labeled autonomous vehicle data. Perception subsystem <NUM> may be configured to detect, track, classify, and/or determine objects within the environment surrounding autonomous vehicle <NUM>. Trajectory subsystem <NUM> is configured to generate a trajectory for autonomous vehicle <NUM> over a particular timeframe given a desired destination as well as the static and moving objects within the environment. A machine learning model in accordance with several implementations can be utilized in generating a vehicle trajectory. Control system interface <NUM> is configured to communicate with control system <NUM> in order to implement the trajectory of the autonomous vehicle <NUM>. In some implementations, a machine learning model can be utilized to control an autonomous vehicle to implement the planned trajectory.

It will be appreciated that the collection of components illustrated in <FIG> for vehicle control system <NUM> is merely exemplary in nature. Individual sensors may be omitted in some implementations. In some implementations, different types of sensors illustrated in <FIG> may be used for redundancy and/or for covering different regions in an environment surrounding an autonomous vehicle. In some implementations, different types and/or combinations of control subsystems may be used. Further, while subsystems <NUM> - <NUM> are illustrated as being separate from processing logic <NUM> and memory <NUM>, it will be appreciated that in some implementations, some or all of the functionality of subsystems <NUM> - <NUM> may be implemented with program code such as instructions <NUM> resident in memory <NUM> and executed by processing logic <NUM>, and that these subsystems <NUM> - <NUM> may in some instances be implemented using the same processor(s) and/or memory. Subsystems in some implementations may be implemented at least in part using various dedicated circuit logic, various processors, various field programmable gate arrays ("FPGA"), various application-specific integrated circuits ("ASIC"), various real time controllers, and the like, as noted above, multiple subsystems may utilize circuitry, processors, sensors, and/or other components. Further, the various components in vehicle control system <NUM> may be networked in various manners.

In some implementations, autonomous vehicle <NUM> may also include a secondary vehicle control system (not illustrated), which may be used as a redundant or backup control system for autonomous vehicle <NUM>. In some implementations, the secondary vehicle control system may be capable of operating autonomous vehicle <NUM> in response to a particular event. The secondary vehicle control system may only have limited functionality in response to the particular event detected in primary vehicle control system <NUM>. In still other implementations, the secondary vehicle control system may be omitted.

In some implementations, different architectures, including various combinations of software, hardware, circuit logic, sensors, and networks may be used to implement the various components illustrated in <FIG>. Each processor may be implemented, for example, as a microprocessor and each memory may represent the random access memory ("RAM") devices comprising a main storage, as well as any supplemental levels of memory, e.g., cache memories, non-volatile or backup memories (e.g., programmable or flash memories), or read-only memories. In addition, each memory may be considered to include memory storage physically located elsewhere in autonomous vehicle <NUM>, e.g., any cache memory in a processor, as well as any storage capacity used as a virtual memory, e.g., as stored on a mass storage device or another computer controller. Processing logic <NUM> illustrated in <FIG>, or entirely separate processing logic, may be used to implement additional functionality in autonomous vehicle <NUM> outside of the purposes of autonomous control, e.g., to control entertainment systems, to operate doors, lights, or convenience features.

In addition, for additional storage, autonomous vehicle <NUM> may also include one or more mass storage devices, e.g., a removable disk drive, a hard disk drive, a direct access storage device ("DASD"), an optical drive (e.g., a CD drive, a DVD drive), a solid state storage drive ("SSD"), network attached storage, a storage area network, and/or a tape drive, among others. Furthermore, autonomous vehicle <NUM> may include a user interface <NUM> to enable autonomous vehicle <NUM> to receive a number of inputs from a passenger and generate outputs for the passenger, e.g., one or more displays, touchscreens, voice and/or gesture interfaces, buttons and other tactile controls. In some implementations, input from the passenger may be received through another computer or electronic device, e.g., through an app on a mobile device or through a web interface.

In some implementations, autonomous vehicle <NUM> may include one or more network interfaces, e.g., network interface <NUM>, suitable for communicating with one or more networks <NUM> (e.g., a Local Area Network ("LAN"), a wide area network ("WAN"), a wireless network, and/or the Internet, among others) to permit the communication of information with other computers and electronic devices, including, for example, a central service, such as a cloud service, from which autonomous vehicle <NUM> receives environmental and other data for use in autonomous control thereof. In some implementations, data collected by one or more sensors 433A - 433I can be uploaded to computing system <NUM> through network <NUM> for additional processing. In such implementations, a time stamp can be associated with each instance of vehicle data prior to uploading.

Processing logic <NUM> illustrated in <FIG>, as well as various additional controllers and subsystems disclosed herein, generally operates under the control of an operating system and executes or otherwise relies upon various computer software applications, components, programs, objects, modules, or data structures, as may be described in greater detail below. Moreover, various applications, components, programs, objects, or modules may also execute on one or more processors in another computer coupled to autonomous vehicle <NUM> through network <NUM>, e.g., in a distributed, cloud-based, or client-server computing environment, whereby the processing required to implement the functions of a computer program may be allocated to multiple computers and/or services over a network.

Routines executed to implement the various implementations described herein, whether implemented as part of an operating system or a specific application, component, program, object, module or sequence of instructions, or even a subset thereof, will be referred to herein as "program code. " Program code typically comprises one or more instructions that are resident at various times in various memory and storage devices, and that, when read and executed by one or more processors, perform the steps necessary to execute steps or elements embodying the various aspects of the invention. Moreover, while implementations have and hereinafter may be described in the context of fully functioning computers and systems, it will be appreciated that the various implementations described herein are capable of being distributed as a program product in a variety of forms, and that implementations can be implemented regardless of the particular type of computer readable media used to actually carry out the distribution. Examples of computer readable media include tangible, non-transitory media such as volatile and non-volatile memory devices, floppy and other removable disks, solid state drives, hard disk drives, magnetic tape, and optical disks (e.g., CD-ROMs, DVDs) among others.

In addition, various program code described hereinafter may be identified based upon the application within which it is implemented in a specific implementation. However, it should be appreciated that any particular program nomenclature that follows is used merely for convenience, and thus the invention should not be limited to use solely in any specific application identified and/or implied by such nomenclature. Furthermore, given the typically endless number of manners in which computer programs may be organized into routines, procedures, methods, modules, objects, and the like, as well as the various manners in which program functionality may be allocated among various software layers that are resident within a typical computer (e.g., operating systems, libraries, API's, applications, applets), it should be appreciated that the invention is not limited to the specific organization and allocation of program functionality described herein.

Those skilled in the art, having the benefit of the present disclosure, will recognize that the exemplary environment illustrated in <FIG> is not intended to limit implementations disclosed herein. Indeed, those skilled in the art will recognize that other alternative hardware and/or software environments may be used without departing from the scope of implementations disclosed herein.

The term "processing logic" (e.g. processing logic <NUM> or <NUM>) in this disclosure may include one or more processors, microprocessors, multi-core processors, Application-specific integrated circuits (ASIC), and/or Field Programmable Gate Arrays (FPGAs) to execute operations disclosed herein. In some implementations, memories (not illustrated) are integrated into the processing logic to store instructions to execute operations and/or store data. Processing logic may also include analog or digital circuitry to perform the operations in accordance with implementations of the disclosure.

A "memory" or "memories" described in this disclosure may include one or more volatile or non-volatile memory architectures. The "memory" or "memories" may be removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. Example memory technologies may include RAM, ROM, EEPROM, flash memory, CD-ROM, digital versatile disks (DVD), high-definition multimedia/data storage disks, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing device.

A Network may include any network or network system such as, but not limited to, the following: a peer-to-peer network; a Local Area Network (LAN); a Wide Area Network (WAN); a public network, such as the Internet; a private network; a cellular network; a wireless network; a wired network; a wireless and wired combination network; and a satellite network.

Communication channels may include or be routed through one or more wired or wireless communication utilizing IEEE <NUM> protocols, SPI (Serial Peripheral Interface), I2C (Inter-Integrated Circuit), USB (Universal Serial Port), CAN (Controller Area Network), cellular data protocols (e.g. <NUM>, <NUM>, LTE, <NUM>), optical communication networks, Internet Service Providers (ISPs), a peer-to-peer network, a Local Area Network (LAN), a Wide Area Network (WAN), a public network (e.g. "the Internet"), a private network, a satellite network, or otherwise.

A computing device may include a desktop computer, a laptop computer, a tablet, a phablet, a smartphone, a feature phone, a server computer, or otherwise. A server computer may be located remotely in a data center or be stored locally.

Claim 1:
A light detection and ranging, LIDAR, system (<NUM>) comprising:
a laser that is configured to generate light;
a splitter (<NUM>) that is configured to split the light (<NUM>) into a plurality of split lights;
a polarization controller (<NUM>) configured to receive a first split light of the plurality of split lights,
wherein the polarization controller includes a first stage including a first 2x2 splitter (<NUM>) and a first phase shifter (<NUM>) and a second stage including a second 2x2 splitter (<NUM>) and a second phase shifter (<NUM>), the polarization controller including a first arm (<NUM>) and a second arm (<NUM>), wherein the first arm includes the first phase shifter (<NUM>) and the second phase shifter (<NUM>) that are configured to be controlled to set a phase of light that passes through the first arm relative to the second arm,
wherein the first 2x2 splitter (<NUM>) is configured to split the first split light entering the first 2x2 splitter between its two output ports into the first and second arms of the first stage, wherein light in the first arm of the first stage passes through the first phase shifter (<NUM>),
wherein light in the first and second arms of the first stage enters the second 2x2 splitter (<NUM>) and outputs into the first and second arms of the second stage, wherein light in the first arm of the second stage passes through the second phase shifter (<NUM>); and
a dual-polarization grating coupler (<NUM>) including a first port (<NUM>) to receive light from the first arm (<NUM>) and a second port (<NUM>) configured to receive light from the second arm (<NUM>), wherein the dual-polarization grating coupler is configured to couple the light from the first port (<NUM>) into a first beam having a first polarization orientation, and wherein the dual-polarization grating coupler is configured to couple the light from the second arm into a second beam with a second polarization orientation,
wherein the first port (<NUM>) of the dual-polarization grating coupler (<NUM>) is optically coupled to the second phase shifter (<NUM>).