Patent ID: 12222448

DETAILED DESCRIPTION

The following describes the technology of this disclosure within the context of an autonomous vehicle for example purposes only. As described herein, the technology is not limited to an autonomous vehicle and can be implemented within other robotic and computing systems as well as various devices. For example, the systems and methods disclosed herein can be implemented in a variety of ways including, but not limited to, a computer-implemented method, an autonomous vehicle system, an autonomous vehicle control system, a robotic platform system, a general robotic device control system, a computing device, etc.

With reference toFIGS.1-9, example implementations of the present disclosure are discussed in further detail.FIG.1depicts a block diagram of an example autonomous vehicle control system100for an autonomous vehicle according to some implementations of the present disclosure. The autonomous vehicle control system100can be implemented by a computing system of an autonomous vehicle). The autonomous vehicle control system100can include one or more sub-control systems101that operate to obtain inputs from sensor(s)102or other input devices of the autonomous vehicle control system100. In some implementations, the sub-control system(s)101can additionally obtain platform data108(e.g., map data110) from local or remote storage. The sub-control system(s)101can generate control outputs for controlling the autonomous vehicle (e.g., through platform control devices112, etc.) based on sensor data104, map data110, or other data. The sub-control system101may include different subsystems for performing various autonomy operations. The subsystems may include a localization system130, a perception system140, a planning system150, and a control system160. The localization system130can determine the location of the autonomous vehicle within its environment; the perception system140can detect, classify, and track objects and actors in the environment; the planning system150can determine a trajectory for the autonomous vehicle; and the control system160can translate the trajectory into vehicle controls for controlling the autonomous vehicle. The sub-control system(s)101can be implemented by one or more onboard computing system(s). The subsystems can include one or more processors and one or more memory devices. The one or more memory devices can store instructions executable by the one or more processors to cause the one or more processors to perform operations or functions associated with the subsystems. The computing resources of the sub-control system(s)101can be shared among its subsystems, or a subsystem can have a set of dedicated computing resources.

In some implementations, the autonomous vehicle control system100can be implemented for or by an autonomous vehicle (e.g., a ground-based autonomous vehicle). The autonomous vehicle control system100can perform various processing techniques on inputs (e.g., the sensor data104, the map data110) to perceive and understand the vehicle's surrounding environment and generate an appropriate set of control outputs to implement a vehicle motion plan (e.g., including one or more trajectories) for traversing the vehicle's surrounding environment. In some implementations, an autonomous vehicle implementing the autonomous vehicle control system100can drive, navigate, operate, etc. with minimal or no interaction from a human operator (e.g., driver, pilot, etc.).

In some implementations, the autonomous vehicle can be configured to operate in a plurality of operating modes. For instance, the autonomous vehicle can be configured to operate in a fully autonomous (e.g., self-driving, etc.) operating mode in which the autonomous platform is controllable without user input (e.g., can drive and navigate with no input from a human operator present in the autonomous vehicle or remote from the autonomous vehicle, etc.). The autonomous vehicle can operate in a semi-autonomous operating mode in which the autonomous vehicle can operate with some input from a human operator present in the autonomous vehicle (or a human operator that is remote from the autonomous platform). In some implementations, the autonomous vehicle can enter into a manual operating mode in which the autonomous vehicle is fully controllable by a human operator (e.g., human driver, etc.) and can be prohibited or disabled (e.g., temporary, permanently, etc.) from performing autonomous navigation (e.g., autonomous driving, etc.). The autonomous vehicle can be configured to operate in other modes such as, for example, park or sleep modes (e.g., for use between tasks such as waiting to provide a trip/service, recharging, etc.). In some implementations, the autonomous vehicle can implement vehicle operating assistance technology (e.g., collision mitigation system, power assist steering, etc.), for example, to help assist the human operator of the autonomous platform (e.g., while in a manual mode, etc.).

The autonomous vehicle control system100can be located onboard (e.g., on or within) an autonomous vehicle and can be configured to operate the autonomous vehicle in various environments. The environment may be a real-world environment or a simulated environment. In some implementations, one or more simulation computing devices can simulate one or more of: the sensors102, the sensor data104, communication interface(s)106, the platform data108, or the platform control devices112for simulating operation of the autonomous vehicle control system100.

In some implementations, the sub-control system(s)101can communicate with one or more networks or other systems with communication interface(s)106. The communication interface(s)106can include any suitable components for interfacing with one or more network(s), including, for example, transmitters, receivers, ports, controllers, antennas, or other suitable components that can help facilitate communication. In some implementations, the communication interface(s)106can include a plurality of components (e.g., antennas, transmitters, or receivers, etc.) that allow it to implement and utilize various communication techniques (e.g., multiple-input, multiple-output (MIMO) technology, etc.).

In some implementations, the sub-control system(s)101can use the communication interface(s)106to communicate with one or more computing devices that are remote from the autonomous vehicle over one or more network(s). For instance, in some examples, one or more inputs, data, or functionalities of the sub-control system(s)101can be supplemented or substituted by a remote system communicating over the communication interface(s)106. For instance, in some implementations, the map data110can be downloaded over a network to a remote system using the communication interface(s)106. In some examples, one or more of the localization system130, the perception system140, the planning system150, or the control system160can be updated, influenced, nudged, communicated with, etc. by a remote system for assistance, maintenance, situational response override, management, etc.

The sensor(s)102can be located onboard the autonomous platform. In some implementations, the sensor(s)102can include one or more types of sensor(s). For instance, one or more sensors can include image capturing device(s) (e.g., visible spectrum cameras, infrared cameras, etc.). Additionally or alternatively, the sensor(s)102can include one or more depth capturing device(s). For example, the sensor(s)102can include one or more LIDAR sensor(s) or Radio Detection and Ranging (RADAR) sensor(s). The sensor(s)102can be configured to generate point data descriptive of at least a portion of a three-hundred-and-sixty-degree view of the surrounding environment. The point data can be point cloud data (e.g., three-dimensional LIDAR point cloud data, RADAR point cloud data). In some implementations, one or more of the sensor(s)102for capturing depth information can be fixed to a rotational device in order to rotate the sensor(s)102about an axis. The sensor(s)102can be rotated about the axis while capturing data in interval sector packets descriptive of different portions of a three-hundred-and-sixty-degree view of a surrounding environment of the autonomous platform. In some implementations, one or more of the sensor(s)102for capturing depth information can be solid state.

The sensor(s)102can be configured to capture the sensor data104indicating or otherwise being associated with at least a portion of the environment of the autonomous vehicle. The sensor data104can include image data (e.g., 2D camera data, video data, etc.), RADAR data, LIDAR data (e.g., 3D point cloud data, etc.), audio data, or other types of data. In some implementations, the sub-control system(s)101can obtain input from additional types of sensors, such as inertial measurement units (IMUs), altimeters, inclinometers, odometry devices, location or positioning devices (e.g., GPS, compass), wheel encoders, or other types of sensors. In some implementations, the sub-control system(s)101can obtain sensor data104associated with particular component(s) or system(s) of the autonomous vehicle. This sensor data104can indicate, for example, wheel speed, component temperatures, steering angle, cargo or passenger status, etc. In some implementations, the sub-control system(s)101can obtain sensor data104associated with ambient conditions, such as environmental or weather conditions. In some implementations, the sensor data104can include multi-modal sensor data. The multi-modal sensor data can be obtained by at least two different types of sensor(s) (e.g., of the sensors102) and can indicate static and/or dynamic object(s) or actor(s) within an environment of the autonomous vehicle. The multi-modal sensor data can include at least two types of sensor data (e.g., camera and LIDAR data). In some implementations, the autonomous vehicle can utilize the sensor data104for sensors that are remote from (e.g., offboard) the autonomous vehicle. This can include for example, sensor data104captured by a different autonomous vehicle.

The sub-control system(s)101can obtain the map data110associated with an environment in which the autonomous vehicle was, is, or will be located. The map data110can provide information about an environment or a geographic area. For example, the map data110can provide information regarding the identity and location of different travel ways (e.g., roadways, etc.), travel way segments (e.g., road segments, etc.), buildings, or other items or objects (e.g., lampposts, crosswalks, curbs, etc.); the location and directions of boundaries or boundary markings (e.g., the location and direction of traffic lanes, parking lanes, turning lanes, bicycle lanes, other lanes, etc.); traffic control data (e.g., the location and instructions of signage, traffic lights, other traffic control devices, etc.); obstruction information (e.g., temporary or permanent blockages, etc.); event data (e.g., road closures/traffic rule alterations due to parades, concerts, sporting events, etc.); nominal vehicle path data (e.g., indicating an ideal vehicle path such as along the center of a certain lane, etc.); or any other map data that provides information that assists an autonomous vehicle in understanding its surrounding environment and its relationship thereto. In some implementations, the map data110can include high-definition map information. Additionally or alternatively, the map data110can include sparse map data (e.g., lane graphs, etc.). In some implementations, the sensor data104can be fused with or used to update the map data110in real time.

The sub-control system(s)101can include the localization system130, which can provide an autonomous vehicle with an understanding of its location and orientation in an environment. In some examples, the localization system130can support one or more other subsystems of the sub-control system(s)101, such as by providing a unified local reference frame for performing, e.g., perception operations, planning operations, or control operations.

In some implementations, the localization system130can determine a current position of the autonomous vehicle. A current position can include a global position (e.g., respecting a georeferenced anchor, etc.) or relative position (e.g., respecting objects in the environment, etc.). The localization system130can generally include or interface with any device or circuitry for analyzing a position or change in position of an autonomous vehicle. For example, the localization system130can determine position by using one or more of: inertial sensors (e.g., inertial measurement unit(s), etc.), a satellite positioning system, radio receivers, networking devices (e.g., based on IP address, etc.), triangulation or proximity to network access points or other network components (e.g., cellular towers, Wi-Fi access points, etc.), or other suitable techniques. The position of the autonomous vehicle can be used by various subsystems of the sub-control system(s)101or provided to a remote computing system (e.g., using the communication interface(s)106).

In some implementations, the localization system130can register relative positions of elements of a surrounding environment of the autonomous vehicle with recorded positions in the map data110. For instance, the localization system130can process the sensor data104(e.g., LIDAR data, RADAR data, camera data, etc.) for aligning or otherwise registering to a map of the surrounding environment (e.g., from the map data110) to understand the autonomous vehicle's position within that environment. Accordingly, in some implementations, the autonomous vehicle can identify its position within the surrounding environment (e.g., across six axes, etc.) based on a search over the map data110. In some implementations, given an initial location, the localization system130can update the autonomous vehicle's location with incremental re-alignment based on recorded or estimated deviations from the initial location. In some implementations, a position can be registered directly within the map data110.

In some implementations, the map data110can include a large volume of data subdivided into geographic tiles, such that a desired region of a map stored in the map data110can be reconstructed from one or more tiles. For instance, a plurality of tiles selected from the map data110can be stitched together by the sub-control system101based on a position obtained by the localization system130(e.g., a number of tiles selected in the vicinity of the position).

In some implementations, the localization system130can determine positions (e.g., relative or absolute) of one or more attachments or accessories for an autonomous vehicle. For instance, an autonomous vehicle can be associated with a cargo platform, and the localization system130can provide positions of one or more points on the cargo platform. For example, a cargo platform can include a trailer or other device towed or otherwise attached to or manipulated by an autonomous vehicle, and the localization system130can provide for data describing the position (e.g., absolute, relative, etc.) of the autonomous vehicle as well as the cargo platform. Such information can be obtained by the other autonomy systems to help operate the autonomous vehicle.

The sub-control system(s)101can include the perception system140, which can allow an autonomous platform to detect, classify, and track objects and actors in its environment. Environmental features or objects perceived within an environment can be those within the field of view of the sensor(s)102or predicted to be occluded from the sensor(s)102. This can include object(s) not in motion or not predicted to move (static objects) or object(s) in motion or predicted to be in motion (dynamic objects/actors).

The perception system140can determine one or more states (e.g., current or past state(s), etc.) of one or more objects that are within a surrounding environment of an autonomous vehicle. For example, state(s) can describe (e.g., for a given time, time period, etc.) an estimate of an object's current or past location (also referred to as position); current or past speed/velocity; current or past acceleration; current or past heading; current or past orientation; size/footprint (e.g., as represented by a bounding shape, object highlighting, etc.); classification (e.g., pedestrian class vs. vehicle class vs. bicycle class, etc.); the uncertainties associated therewith; or other state information. In some implementations, the perception system140can determine the state(s) using one or more algorithms or machine-learned models configured to identify/classify objects based on inputs from the sensor(s)102. The perception system can use different modalities of the sensor data104to generate a representation of the environment to be processed by the one or more algorithms or machine-learned models. In some implementations, state(s) for one or more identified or unidentified objects can be maintained and updated over time as the autonomous vehicle continues to perceive or interact with the objects (e.g., maneuver with or around, yield to, etc.). In this manner, the perception system140can provide an understanding about a current state of an environment (e.g., including the objects therein, etc.) informed by a record of prior states of the environment (e.g., including movement histories for the objects therein). Such information can be helpful as the autonomous vehicle plans its motion through the environment.

The sub-control system(s)101can include the planning system150, which can be configured to determine how the autonomous platform is to interact with and move within its environment. The planning system150can determine one or more motion plans for an autonomous platform. A motion plan can include one or more trajectories (e.g., motion trajectories) that indicate a path for an autonomous vehicle to follow. A trajectory can be of a certain length or time range. The length or time range can be defined by the computational planning horizon of the planning system150. A motion trajectory can be defined by one or more waypoints (with associated coordinates). The waypoint(s) can be future location(s) for the autonomous platform. The motion plans can be continuously generated, updated, and considered by the planning system150.

The planning system150can determine a strategy for the autonomous platform. A strategy may be a set of discrete decisions (e.g., yield to actor, reverse yield to actor, merge, lane change) that the autonomous platform makes. The strategy may be selected from a plurality of potential strategies. The selected strategy may be a lowest cost strategy as determined by one or more cost functions. The cost functions may, for example, evaluate the probability of a collision with another actor or object.

The planning system150can determine a desired trajectory for executing a strategy. For instance, the planning system150can obtain one or more trajectories for executing one or more strategies. The planning system150can evaluate trajectories or strategies (e.g., with scores, costs, rewards, constraints, etc.) and rank them. For instance, the planning system150can use forecasting output(s) that indicate interactions (e.g., proximity, intersections, etc.) between trajectories for the autonomous platform and one or more objects to inform the evaluation of candidate trajectories or strategies for the autonomous platform. In some implementations, the planning system150can utilize static cost(s) to evaluate trajectories for the autonomous platform (e.g., “avoid lane boundaries,” “minimize jerk,” etc.). Additionally or alternatively, the planning system150can utilize dynamic cost(s) to evaluate the trajectories or strategies for the autonomous platform based on forecasted outcomes for the current operational scenario (e.g., forecasted trajectories or strategies leading to interactions between actors, forecasted trajectories or strategies leading to interactions between actors and the autonomous platform, etc.). The planning system150can rank trajectories based on one or more static costs, one or more dynamic costs, or a combination thereof. The planning system150can select a motion plan (and a corresponding trajectory) based on a ranking of a plurality of candidate trajectories. In some implementations, the planning system150can select a highest ranked candidate, or a highest ranked feasible candidate.

The planning system150can then validate the selected trajectory against one or more constraints before the trajectory is executed by the autonomous platform.

To help with its motion planning decisions, the planning system150can be configured to perform a forecasting function. The planning system150can forecast future state(s) of the environment. This can include forecasting the future state(s) of other actors in the environment. In some implementations, the planning system150can forecast future state(s) based on current or past state(s) (e.g., as developed or maintained by the perception system140). In some implementations, future state(s) can be or include forecasted trajectories (e.g., positions over time) of the objects in the environment, such as other actors. In some implementations, one or more of the future state(s) can include one or more probabilities associated therewith (e.g., marginal probabilities, conditional probabilities). For example, the one or more probabilities can include one or more probabilities conditioned on the strategy or trajectory options available to the autonomous vehicle. Additionally or alternatively, the probabilities can include probabilities conditioned on trajectory options available to one or more other actors.

To implement selected motion plan(s), the sub-control system(s)101can include a control system160(e.g., a vehicle control system). Generally, the control system160can provide an interface between the sub-control system(s)101and the platform control devices112for implementing the strategies and motion plan(s) generated by the planning system150. For instance, the control system160can implement the selected motion plan/trajectory to control the autonomous platform's motion through its environment by following the selected trajectory (e.g., the waypoints included therein). The control system160can, for example, translate a motion plan into instructions for the appropriate platform control devices112(e.g., acceleration control, brake control, steering control, etc.). By way of example, the control system160can translate a selected motion plan into instructions to adjust a steering component (e.g., a steering angle) by a certain number of degrees, apply a certain magnitude of braking force, increase/decrease speed, etc. In some implementations, the control system160can communicate with the platform control devices112through communication channels including, for example, one or more data buses (e.g., controller area network (CAN), etc.), onboard diagnostics connectors (e.g., OBD-II, etc.), or a combination of wired or wireless communication links. The platform control devices112can send or obtain data, messages, signals, etc. to or from the sub-control system(s)101(or vice versa) through the communication channel(s).

The sub-control system(s)101can receive, through communication interface(s)106, assistive signal(s) from remote assistance system170. Remote assistance system170can communicate with the sub-control system(s)101over a network. In some implementations, the sub-control system(s)101can initiate a communication session with the remote assistance system170. For example, the sub-control system(s)101can initiate a session based on or in response to a trigger. In some implementations, the trigger may be an alert, an error signal, a map feature, a request, a location, a traffic condition, a road condition, etc.

After initiating the session, the sub-control system(s)101can provide context data to the remote assistance system170. The context data may include sensor data104and state data of the autonomous vehicle. For example, the context data may include a live camera feed from a camera of the autonomous vehicle and the autonomous vehicle's current speed. An operator (e.g., human operator) of the remote assistance system170can use the context data to select assistive signals. The assistive signal(s) can provide values or adjustments for various operational parameters or characteristics for the sub-control system(s)101. For instance, the assistive signal(s) can include way points (e.g., a path around an obstacle, lane change, etc.), velocity or acceleration profiles (e.g., speed limits, etc.), relative motion instructions (e.g., convoy formation, etc.), operational characteristics (e.g., use of auxiliary systems, reduced energy processing modes, etc.), or other signals to assist the sub-control system(s)101.

The sub-control system(s)101can use the assistive signal(s) for input into one or more autonomy subsystems for performing autonomy functions. For instance, the planning system150can receive the assistive signal(s) as an input for generating a motion plan. For example, assistive signal(s) can include constraints for generating a motion plan. Additionally or alternatively, assistive signal(s) can include cost or reward adjustments for influencing motion planning by the planning system150. Additionally or alternatively, assistive signal(s) can be considered by the sub-control system(s)101as suggestive inputs for consideration in addition to other received data (e.g., sensor inputs, etc.).

The sub-control system(s)101may be platform agnostic, and the control system160can provide control instructions to platform control devices112for a variety of different platforms for autonomous movement (e.g., a plurality of different autonomous platforms fitted with autonomous control systems). This can include a variety of different types of autonomous vehicles (e.g., sedans, vans, SUVs, trucks, electric vehicles, combustion power vehicles, etc.) from a variety of different manufacturers/developers that operate in various different environments and, in some implementations, perform one or more vehicle services.

FIG.2is a block diagram illustrating an example LIDAR sensor system for autonomous vehicles, according to some implementations. The environment includes a LIDAR system200that includes a transmit (Tx) path and a receive (Rx) path. The Tx path includes one or more Tx input/output ports, and the Rx path includes one or more Rx input/output ports. In some implementations, a semiconductor substrate and/or semiconductor package may include the Tx path and the Rx. In some implementations, the semiconductor substrate and/or semiconductor package may include at least one of silicon photonics circuitry, programmable logic controller (PLC), or III-V semiconductor circuitry.

In some implementations, a first semiconductor substrate and/or a first semiconductor package may include the Tx path and a second semiconductor substrate and/or a second semiconductor package may include the Rx path. In some arrangements, the Rx input/output ports and/or the Tx input/output ports may occur (or be formed/disposed/located/placed) along one or more edges of one or more semiconductor substrates and/or semiconductor packages.

The LIDAR system200includes one or more transmitters220and one or more receivers222. The LIDAR system200further includes one or more optics210(e.g., an oscillatory scanner, a unidirectional scanner, a Risley prism, a circulator optic, and/or a beam collimator, etc.) that are coupled to the LIDAR system200(e.g., the transmitter220and/or receiver222). In some implementations, the one or more optics210may be coupled to the Tx path via the one or more Tx input/output ports. In some implementations, the one or more optics210may be coupled to the Rx path via the one or more Rx input/output ports.

The LIDAR system200can be coupled to one or more sub-control system(s)101—(e.g., the sub-control system(s)101ofFIG.1). In some implementations, the sub-control system(s)101may be coupled to the Rx path via the one or more Rx input/output ports. For instance, the sub-control system(s)101can receive LIDAR outputs from the LIDAR system200. The sub-control system(s)101can control a vehicle (e.g., an autonomous vehicle) based on the LIDAR outputs.

The Tx path may include a laser source202, a modulator204A, a modulator204B, an amplifier206, and one or more transmitters220. The Rx path may include one or more receivers222, a mixer208, a detector212, a transimpedance amplifier (TIA)214, and one or more analog-to-digital converters (ADCs). AlthoughFIG.2shows only a select number of components and only one input/output channel, the LIDAR system200may include any number of components and/or input/output channels (in any combination) that are interconnected in any arrangement to facilitate combining multiple functions of a LIDAR system, to support the operation of a vehicle.

The laser source202may be configured to generate a light signal (or beam) that is derived from (or associated with) a local oscillator (LO) signal. In some implementations, the light signal may have an operating wavelength that is equal to or substantially equal to 1550 nanometers. In some implementations, the light signal may have an operating wavelength that is between 1400 nanometers and 1440 nanometers.

The laser source202may be configured to provide the light signal to the modulator204A, which is configured to modulate a phase and/or a frequency of the light signal based on a first radio frequency (RF) signal (e.g., an “RF1” signal) to generate a modulated light signal, such as by Continuous Wave (CW) modulation or quasi-CW modulation. The modulator204A may be configured to send the modulated light signal to the amplifier206. The amplifier206may be configured to amplify the modulated light signal to generate an amplified light signal to the optics210via the one or more transmitters220. The one or more transmitters220may include one or more optical waveguides or antennas. In some implementations, modulator204A and/or modulator204B may have a bandwidth between 400 megahertz (MHz) and1000(MHz).

According to example aspects of the present disclosure, the modulator204A, the modulator204B, and/or the amplifier206can be disposed in a photonics integrated circuit (PIC)230. The photonics integrated circuit230can include one or more semiconductor devices (e.g., the modulator204A/204B and/or the amplifier206) formed on a common substrate. Furthermore, the different semiconductor devices can have differing semiconductor stacks. For example, the modulator204A can have a first semiconductor stack while the amplifier206can have a second semiconductor stack. Additionally or alternatively, the amplifier can be formed of a group III-V semiconductor stack while the modulator204can be formed of another semiconductor material (e.g., silicon).

The optics210may be configured to steer the amplified light signal that it receives from the Tx path into an environment within a given field of view toward an object218, may receive a returned signal reflected back from the object218, and provide the returned signal to the mixer208of the Rx path via the one or more receivers222. The one or more receivers22may include one or more optical waveguides or antennas. In some arrangements, the transmitters220and the receivers222may collectively constitute one or more transceivers. In some arrangements, the one or more transceivers may include a monostatic transceiver or a bistatic transceiver.

The laser source202may be configured to provide the LO signal to the modulator204B, which is configured to modulate a phase and/or a frequency of the LO signal based on a second RF signal (e.g., an “RF2” signal) to generate a modulated LO signal (e.g., using Continuous Wave (CW) modulation or quasi-CW modulation) and send the modulated LO signal to the mixer208of the Rx path. The mixer208may be configured to mix (e.g., combine, multiply, etc.) the modulated LO signal with the returned signal to generate a down-converted signal and send the down-converted signal to the detector212.

In some arrangements, the mixer208may be configured to send the modulated LO signal to the detector212. The detector212may be configured to generate an electrical signal based on the down-converted signal and send the electrical signal to the TIA214. In some arrangements, the detector212may be configured to generate an electrical signal based on the down-converted signal and the modulated signal. The TIA214may be configured to amplify the electrical signal and send the amplified electrical signal to the sub-control system(s)101via the one or more ADCs224. In some implementations, the TIA214may have a peak noise-equivalent power (NEP) that is less than 5 picowatts per square root Hertz (i.e., 5×10-12 Watts per square root Hertz). In some implementations, the TIA214may have a gain between 4 kiloohms and 25 kiloohms. In some implementations, detector212and/or TIA214may have a 3-decibel bandwidth between 80 kilohertz (kHz) and 450 megahertz (MHz).

The sub-control system(s)101may be configured to determine a distance to the object218and/or measure the velocity of the object218based on the one or more electrical signals that it receives from the TIA via the one or more ADCs224.

FIG.3depicts an example photonics integrated circuit300(PIC300) according to some implementations of the present disclosure. The PIC300can be included in a LIDAR system, such as the LIDAR system200ofFIG.2.

The PIC300can include a semiconductor die330. The semiconductor die330can include a substrate having two or more semiconductor devices directly formed on the substrate. For instance, in some implementations, the semiconductor devices can each be formed on a common substrate of the semiconductor die330. The substrate, the semiconductor devices, and/or the semiconductor die can be formed of a group III-V semiconductor material, such as, for example, indium phosphide (InP), gallium arsenide (GaAs), indium arsenide (InAs), gallium nitride (GaN), or indium antimonide (InSb). Group III-V semiconductors are based on the elements of groups III and V of the periodic table. The possibility to grow thin-films made of group III-V alloys with different fractions of their constituent elements allows for precise engineering of optical properties. In addition, since many III-V compounds are direct-bandgap semiconductors, they may be suitable for the development of photonic devices and integrated circuits for use in optical systems such as LIDAR systems.

According to example aspects of the present disclosure, the respective semiconductor stacks of the one or more semiconductor devices of the semiconductor die330are not coupled by any butt joints or other joining process. For instance, in conventional manufacturing processes, disparate semiconductor stacks may be joined by butt joints or other joining processes to assemble a PIC. Rather, the semiconductor stacks are directly formed on a common substrate by a manufacturing process such as MOVCD, where layers of the semiconductor stack are formed on each semiconductor device (e.g., by a deposition process), and etched away from semiconductor stacks for devices that do not include the layer. As used herein, a semiconductor stack refers to a plurality of layers of materials, such as semiconductor materials, formed on or extending from a substrate or wafer. A respective semiconductor stack may form, compose, or otherwise make up a respective semiconductor device, such as a modulator, amplifier, or other suitable semiconductor device. Respective semiconductor stacks may be separated by surface features of the substrate, such as trench features.

The semiconductor die330can be coupled to at least one photonics die. For instance, the semiconductor die330can be coupled to a first photonics die310by a first optical interface303. The semiconductor die330can additionally or alternatively be coupled to a second photonics die350by a second optical interface305. The optical interface(s)303,305can be configured such that waveguides, lenses, or other structures for transmitting signals (e.g., electrical signals, light or laser signals, etc.) between the semiconductor die330and the first and second photonics dies310,350. The photonics dies310,350can be silicon photonics dies. For instance, the photonics dies310,350can be formed on a silicon substrate and/or formed of silicon layers.

Components depicted on the first photonics die310and second photonics die350are arranged as inFIG.3for the purpose of illustrating example aspects of the present disclosure. It should be understood by one having ordinary skill in the art that some components depicted on the first photonics die310may be positioned on the second photonics die350and components depicted on the second photonics die350may be positioned on the first photonics die310without deviating from the present disclosure. Still further, more or fewer photonics dies can be coupled to semiconductor die330without deviating from the present disclosure.

The first photonics die310can include or otherwise be in signal communication with a light source (e.g., laser source)302. The laser source302can be configured to provide a beam (e.g., a laser beam) to the first photonics die310and the PIC300. In some implementations, a local oscillator (LO) output352may be drawn from the laser source302. The LO output352may be equivalent to the laser source302or may be modulated from the laser source302(e.g., by an LO modulator such as modulator204B ofFIG.2). In particular, the first photonics die310can include a splitter304configured to split the beam from laser source302into a first beam provided to the LO output352and a second beam provided to other components of the PIC300.

The laser source302can provide the beam to a modulator306(e.g., a phase modulator). The modulator306can be configured to modulate the beam to modify a phase and/or a frequency of the beam. In some embodiments, the modulator306can be a silicon phase modulator. The modulator306can modulate the beam by, for example, using Continuous Wave (CW) modulation or quasi-CW modulation. In some implementations, the modulator306can be disposed on the first photonics die310.

The beam can be provided to one or more channels332of the semiconductor die330. For instance, the channels332can be, can include, or can be a portion of a semiconductor device of the semiconductor die330configured to modify (e.g., modulate, amplify, etc.) the beam as it passes through the channels332. For example, the channels332can be or can include amplification channels configured to amplify the beam as it passes through the channel. As another example, the channels332can be or can include modulation channels configured to modify the beam as it passes through the channels332.

The PIC300(e.g., the first photonics die310) can include a power distribution network312. The power distribution network312can be configured to distribute the beam to the channels332of the semiconductor die330. For instance, the power distribution network312can distribute the beam among the channels332based on power needs of the LIDAR system. Furthermore, in some implementations, the PIC300(e.g., the second photonics die350) can include a splitter356disposed prior to the power distribution network312along the path of the beam through the PIC300. Including a splitter356can reduce the magnitude of splitting that is later performed by power distribution network312, which can in turn improve saturation of amplifiers in the channels332.

The PIC300can further include or be in communication with a transmitter configured to receive the beam from the semiconductor die330. For instance, in some implementations, the second photonics die350can include a transmitter (not illustrated inFIG.3) configured to receive the beam from the semiconductor die330(e.g., the channels332of the semiconductor die330). The second photonics die350can include one or more Tx outputs354(e.g., Tx0, Tx1, etc.) corresponding to output channels of a LIDAR system. The Tx outputs354can be provided to the transmitter and optics to emit the beam from the LIDAR system.

Furthermore, in some implementations, a photonics die (e.g., the photonics die350) can include a receiver configured to receive a reflected beam from one or more optics. The reflected beam can be reflected from a target. For instance, the optics can emit a beam from the transmitter at a target, which is reflected by the target. The optics can capture the reflected beam and provide it to the receiver. In some implementations, the transmitter and the receiver can collectively be disposed on a common photonics die (e.g., a transceiver die).

In some implementations, the semiconductor die330can have a particular facet. An input of at least a first channel of the one or more channels and an output of at least a second channel of the one or more channels can be positioned on the particular facet of the semiconductor die330. For instance, the input of the first channel and the output of the second channel can be positioned on the same facet (e.g., the same side) of the semiconductor die330. In this manner, the PIC300can include one or more “u-turns” such that an optical signal input at the first channel is redirected in a direction back towards the input as it is output at the second channel. For instance, one or more waveguides on the semiconductor die330(and/or the photonics dies310or350) can adjust a direction of propagation of the beams input at a first direction to be substantially parallel to a second direction that is substantially opposite the first direction. In this manner, the light guided by the waveguides performs a “u-turn” back toward the inputs (e.g., towards the photonics die310or350).

FIG.4depicts a cross-sectional view of an example semiconductor die400according to some implementations of the present disclosure. The semiconductor die400can be included in a LIDAR system, such as the LIDAR system200ofFIG.2.

The semiconductor die400can include a first semiconductor stack410(e.g., corresponding to a first semiconductor device) and a second semiconductor stack420(e.g., corresponding to a second semiconductor device) formed on a common substrate402. The substrate402can be a metal substrate or semiconductor substrate, such as a substrate formed of crystalline silicon. As used herein, a semiconductor stack (e.g.,410,420) refers to a plurality of layers of materials, such as semiconductor materials, formed on or extending from a substrate or wafer. A respective semiconductor stack may form, compose, or otherwise make up a respective semiconductor device, such as a modulator, amplifier, or other suitable semiconductor device. Respective semiconductor stacks may be separated by surface features of the substrate, such as trench features.

The first semiconductor stack410can have one or more waveguide layers412. The second semiconductor stack420can have one or more waveguide layers422. The waveguide layers412,422can be configured to pass or propagate an optical signal (e.g., from a laser source) through the semiconductor stacks410,420. In some implementations, the waveguide layers412,422can be formed of a group III-V semiconductor material. For instance, the group III-V semiconductor material can be or can include indium phosphide (InP), gallium arsenide (GaAs), indium arsenide (InAs), gallium nitride (GaN), indium antimonide (InSb), or another group III-V semiconductor material. The use of a group III-V material can, in some cases, provide improved transmission characteristics for optical signals. A thickness of the waveguide layers412,422can facilitate conductivity and thermal dissipation. In some implementations, the thickness of the waveguide layers412,422can be from about 100 microns to about 300 microns.

In some implementations, the waveguide layers412,422can be separated by one or more spacer layers413,423. The spacer layers413,423can be formed of silicon dioxide (SiO2) or another suitable material. As another example, in some implementations, the spacer layers can be formed of a group III-V semiconductor material, such as a different group III-V semiconductor material than the waveguide layers412,422. The spacer layers413,423can have a thickness of from about 100 microns to about 300 microns.

The first semiconductor stack410includes an n-doped semiconductor layer414, a p-doped group III-V semiconductor layer (e.g., InP)416, and an insulating layer418. The n-doped semiconductor layer414can be formed of any suitable semiconductor, such as a group III-V semiconductor, silicon, etc. The n-doped semiconductor layer414can be doped with any suitable n-dopant, such as phosphorous, silicon, zinc, arsenic, or other suitable material. The n-doped semiconductor layer414can have any suitable thickness, such as a thickness of between about 10 and about 500 microns. The p-doped group III-V semiconductor layer416can be formed of any suitable group III-V semiconductor. The p-doped group III-V semiconductor layer416can be doped with any suitable p-dopant, such as boron, silicon, zinc, indium, or other suitable dopant. The p-doped group III-V semiconductor layer416can have any suitable thickness, such as a thickness of between about 10 and about 500 microns. The insulating layer418can insulate the layers of the first semiconductor stack410from outside electrical contact. The insulating layer418can be formed of any suitable insulating material, such as titanium, etc.

The second semiconductor stack420includes an n-doped group III-V semiconductor (e.g., InP) layer424, a multiple quantum wells (MQW) layer426, a p-doped group III-V semiconductor (e.g., InP) layer427, a p-doped group III-V semiconductor layer428, and an insulating layer429. The n-doped semiconductor layer424can be formed of any suitable semiconductor, such as a group III-V semiconductor, silicon, etc. The n-doped semiconductor layer424can be doped with any suitable n-dopant, such as phosphorus, silicon, zinc, arsenic, or other suitable dopant. The n-doped semiconductor layer424can have any suitable thickness, such as a thickness of between about 10 and about 500 microns. The MQW layer426can provide a plurality of quantum wells having barriers with a thickness such that adjacent wave functions may not couple. The p-doped group III-V semiconductor layer(s)427,428can be formed of any suitable group III-V semiconductor. The p-doped group III-V semiconductor layer(s)427,428can be doped with any suitable p-dopant, such as boron, silicon, zinc, indium, or other suitable dopant. The p-doped group III-V semiconductor layer(s)427,428can have any suitable thickness, such as a thickness of between about 10 and about 500 microns. The insulating layer429can insulate the layers of the second semiconductor stack420from outside electrical contact. The insulating layer429can be formed of any suitable insulating material, such as titanium, etc.

While the layers of semiconductor stacks410,420have been described above with specific materials, it should be understood that the layers may be constructed of other materials, including but not limited to, indium phosphide (InP), gallium arsenide (GaAs), indium arsenide (InAs), gallium nitride (GaN), or indium antimonide (InSb).

The first semiconductor stack410and second semiconductor stack420can be isolated by a deep ridge etch404. For instance, the deep ridge etch404can be etched from the top of the semiconductor die400to the surface of the substrate402. The deep ridge etch404can isolate the first semiconductor stack410from the second semiconductor stack420such that each stack410,420acts as an independent semiconductor device. For instance, light may not travel to/from the first semiconductor stack410from/to the second semiconductor stack420without passing through an adjacent component (e.g., a photonics die).

The optical modes415,425represent an intensity profile of light within the semiconductor stacks410,420. The formation of the semiconductor die400, such as the deep ridge etch404, the width of the upper layers such as the n-doped semiconductor layer414, the P-doped semiconductor layer416, the MQW layer426, etc. can produce optical modes415,425in the semiconductor die400that are primarily concentrated in the waveguide layers412,422. For instance, the width of the upper layers, such as the n-doped semiconductor layer414, the P-doped semiconductor layer416, the MQW layer426, etc. may generally increase for layers closer to the substrate402, forming a “pyramid” or “step” configuration. This configuration can cause the optical modes415,425to concentrate in the wider layers near the base of the semiconductor stacks410,420. The greater width, in turn, can increase an amount of light that is able to propagate through the semiconductor stacks410,420, thereby improving efficiency of the semiconductor die400. The optical modes415,425can be aligned with waveguides on adjacent components, such as silicon photonics dies.

The substrate402can have an antireflection layer408formed on a surface opposite the first semiconductor stack410and/or the second semiconductor stack420. The antireflection layer408can be formed of a material having a low reflectivity such that the antireflection layer408does not reflect a significant amount of light incident on the semiconductor die400.

Additionally or alternatively, in some implementations, the antireflection layer408can be nonuniformly applied to the surface of the substrate402such that the antireflection layer408provides a smooth surface. For instance, the thickness of the antireflection layer408may be nonuniform such that the antireflection layer408compensates for variations in uniformity of the substrate402and/or the semiconductor stacks410,420, such as, for example, warping, uneven deposition, etc. caused by manufacturing processes.

The antireflection layer408can be applied to facilitate alignment between the semiconductor die400and other components of the LIDAR sensor system (e.g., the photonics dies, etc.). For instance, the antireflection layer408can be applied such that the optical modes415,425of the semiconductor stacks410,420are aligned with waveguides or other signal transmission modes of adjacent components (e.g., the photonics dies, etc.).

FIGS.5through8depict various stages of manufacturing the semiconductor die400ofFIG.4, according to some implementations of the present disclosure. For instance,FIG.5depicts a cross-sectional view of an intermediary semiconductor die500according to some implementations of the present disclosure. The semiconductor die500can be manufactured into a semiconductor die (e.g., the semiconductor die400) that can be included in a LIDAR system, such as the LIDAR system200ofFIG.2. In particular,FIG.5depicts varying growth stages for the manufacturing process of the intermediary semiconductor die500.

The semiconductor die500can be subjected to a first growth stage510. At this stage, one or more first layers can be grown on a substrate502. The one or more first layer(s) can be grown by any suitable growth or regrowth process, such as, for example, metal-organic chemical vapor deposition (MOVCD). The one or more first layer(s) can include one or more waveguide layers504, one or more spacer layers505, an n-doped group III-V semiconductor (e.g., InP) layer506, a multiple quantum wells (MQW) layer507, and a p-doped group III-V semiconductor (e.g., INP) layer508. For instance, the one or more first layer(s) can correspond to the layers of a first semiconductor stack (or first plurality of semiconductor stacks) to be formed on the substrate502. During the first growth stage510, these one or more first layer(s) can be formed across the entire surface of the substrate502exposed to the growth process. This can include portions of the surface of the substrate502that will eventually become a second semiconductor stack.

After the first growth process, the portions of at least some of the one or more first layer(s) that are not associated with the first semiconductor stack can be etched away. For instance, a mask can be formed on the portions of the first layer(s) that are associated with the first semiconductor stack such that the portions of the first layer(s) associated with the first semiconductor stack remain after the etch process is complete. Any of the one or more first layer(s) that are common to each semiconductor stack (e.g., the waveguide layers504and/or spacer layers505) may not be etched.

After etching away an etched portion of the one or more first layer(s) not associated with the first semiconductor stack, the semiconductor die500can be subjected to a second growth stage520. During the second growth stage520, one or more second layer(s) are grown in the etched portions of the first layers. For instance, in the example ofFIG.5, the n-doped group III-V semiconductor (e.g., InP) layer506, multiple quantum wells (MQW) layer507, and p-doped group III-V semiconductor (e.g., InP) layer508are etched away at a depth (t) and replaced with a n-doped semiconductor layer522in the second growth stage520. After the second growth stage520, a second etch process may be performed on areas of the first semiconductor stack such that the one or more second layer(s) are not present in the first semiconductor stack after the second etch process.

The semiconductor die500can then be subjected to a third growth stage530. At this stage, one or more third layer(s) can be grown on the surface of the substrate502(e.g., on top of the first and/or second layer(s)). In some implementations, the one or more third layer(s) may be common to some or all of the semiconductor stacks on the semiconductor die500. For instance, the one or more third layer(s) can include a p-doped group III-V semiconductor layer532and/or an insulating layer534.

Next, the semiconductor die500may be subject to one or more etch processes to produce a final semiconductor die such as the semiconductor die600ofFIG.6. For instance,FIG.6depicts a cross-sectional view of an example intermediary semiconductor die600according to some implementations of the present disclosure. In particular, the semiconductor die600may be the semiconductor die500after being subject to one or more etch processes. The semiconductor die600can be manufactured into a PIC included in a LIDAR system, such as the LIDAR system200ofFIG.2.

FIG.6depicts a semiconductor die600at a subsequent manufacturing stage from the semiconductor die500ofFIG.5. The semiconductor die600can have a substrate602, one or more waveguide layers604and one or more spacer layers605, a first semiconductor stack610(e.g., a modulator) and a second semiconductor stack620(e.g., an amplifier). The semiconductor die600can be subject to a first etch process at a first etch region632to produce the semiconductor die600from the semiconductor die500ofFIG.5. For instance, the semiconductor die500ofFIG.5can be subject to an etch process where the regions of the surface of the semiconductor die500not included in the first etch region632are masked while the first etch region632is exposed to the etch process.

The first etch process can produce a semiconductor die600having optical modes615,625. As illustrated inFIG.6, the optical modes615,625are primarily concentrated in layers near the top of the die600, instead of near the waveguide layers404as in the semiconductor die400ofFIG.4.

The semiconductor die600can then be subject to a second etch process at second etch region634to isolate the first semiconductor stack610from the second semiconductor stack620. Additionally or alternatively, the semiconductor die600can be subject to a third etch process at third etch region636to produce a deep etch ridge in the waveguide layers604. For instance, the semiconductor stacks610,620can be isolated such that optical modes615,625are moved towards the waveguide layers404as in the semiconductor die400ofFIG.4.

FIG.7depicts a semiconductor die700at a subsequent manufacturing stage from the semiconductor die500ofFIG.5. The semiconductor die700can have a substrate702, one or more waveguide layers704and one or more spacer layers705, a first semiconductor stack710(e.g., a modulator) and a second semiconductor stack720(e.g., an amplifier). For instance, the semiconductor die500ofFIG.5can be subject to an etch process to form semiconductor die700having a deep ridge etch715, which separates the semiconductor die700into a first semiconductor stack710and a second semiconductor stack720. In some implementations, as inFIG.7, the deep ridge etch715can be formed prior to etching the layers of each semiconductor stack710,720. Alternatively, as inFIG.6, the layers can be etched prior to forming a deep ridge etch.

FIG.8depicts a semiconductor die800at a subsequent manufacturing stage from the semiconductor die700ofFIG.7. The semiconductor die800can have a substrate802, one or more waveguide layers804and one or more spacer layers805, and a first semiconductor stack810(e.g., a modulator) and a second semiconductor stack820(e.g., an amplifier) separated by a deep ridge etch815. For instance, the semiconductor die700ofFIG.7can be subject to a first etch process to produce semiconductor die800having first etch regions830. The first etch regions830can push the optical mode of the stacks810,820towards the substrate802and into the waveguide layers804. To form the semiconductor die400ofFIG.4, the semiconductor die800can be subject to one or more second etch process(es).

FIG.9depicts a flowchart diagram of an example method900for forming a photonics integrated circuit according to some implementations of the present disclosure.FIG.9depicts elements performed in a particular order for purposes of illustration and discussion. Those of ordinary skill in the art, using the disclosures provided herein, will understand that the elements of any of the methods discussed herein can be adapted, rearranged, expanded, omitted, combined, or modified in various ways without deviating from the scope of the present disclosure.

At902, the method900can include growing one or more first layers on a substrate at a first growth stage. The substrate may be, for example, a metal substrate, a semiconductor die, and/or other suitable substrate. The first layers can be grown by any suitable growth or regrowth process, such as, for example, metal-organic chemical vapor deposition (MOVCD). The first layers can include one or more waveguide layers, one or more spacer layers, an n-doped group III-V semiconductor (e.g., InP) layer, a multiple quantum wells (MQW) layer, and a p-doped group III-V semiconductor (e.g., InP) layer. In some implementations, the one or more waveguide layers can be formed of a group III-V semiconductor material. For instance, the group III-V semiconductor material can be or can include one or more of indium phosphide (InP), gallium arsenide (GaAs), indium arsenide (InAs), gallium nitride (GaN), or indium antimonide (InSb).

The one or more first layers can be associated with a first semiconductor stack. For instance, the first layers can correspond to the layers of a first semiconductor stack (or first plurality of semiconductor stacks) to be formed on the substrate. For instance, the one or more first layers may be at least a portion of a semiconductor stack that will eventually form a first semiconductor device (e.g., an amplifier, a phase modulator, etc.). Although at least some of the first layers may be associated with a first semiconductor stack (e.g., and/or not associated with other semiconductor stacks on the substrate), the first layers may be grown in a greater region on the substrate than that corresponding to the first semiconductor stack. For instance, in some implementations, the first layers may be grown across an entire surface of the substrate.

At904, the method900can include etching the substrate to remove an etched portion of the first layers. The etched portion may not be associated with a first semiconductor stack. For instance, a mask can be formed on the portions of the first layers that are associated with the first semiconductor stack such that the portions of the first layers associated with the first semiconductor stack remain after the etch process is complete. Some first layers that are common to each semiconductor stack (e.g., the waveguide layers and/or spacer layers) may not be etched.

At906, the method900can include growing one or more second layers on the substrate in the etched portion of the first layers at a second growth stage. The one or more second layers can form a second semiconductor stack. During the second growth stage, the one or more second layers can be grown in the etched portions of the first layers. For instance, in some implementations, the n-doped group III-V semiconductor (e.g., InP) layer, multiple quantum wells (MQW) layer, and/or p-doped group III-V semiconductor (e.g., InP) layer are etched away at a depth T and replaced with second layer(s) in the second growth stage. The one or more second layers can include, for instance, an n-doped semiconductor layer. In some implementations, after the second growth stage, a second etch process may be performed on areas of the first semiconductor stack such that the second layer(s) are not present in the first semiconductor stack after the second etch process.

In some implementations, at908, the method900can further include growing one or more third layers on the substrate. The one or more third layers can be associated with both the first semiconductor stack and the second semiconductor stack. For instance, the one or more third layers can be grown on the portion of the first layers that are not etched in the etched portion and/or the second layers formed in the etched portion. The one or more third layers can include a p-doped group III-V semiconductor layer, an insulating layer, and/or other suitable layers.

In some implementations, at910, the method900can include subjecting the substrate to one or more etch processes. For instance, in some implementations, the method900can include etching a deep ridge etch in the substrate to isolate the first semiconductor stack from the second semiconductor stack. For instance, the deep ridge etch can be etched to isolate an optical mode of the first semiconductor stack from an optical mode of the second semiconductor stack. In some implementations, the method can include etching away a first etch region of the substrate in a first etch process. The first etch region can include at least a portion of the one or more third layers, the n-doped semiconductor layer, and the p-doped group III-V semiconductor layer. For instance, the first etch region can be a largest region. The first etch process can etch away a top portion of the layers formed on the substrate, such as the third layers. Additionally, in some implementations, the method can include etching away a second etch region of the substrate in a second etch process. The second etch region can include at least a portion of the n-doped semiconductor layer, the p-doped group III-V semiconductor layer, the multiple quantum wells layer, and the n-doped group III-V semiconductor layer. For instance, the second etch region can etch away some of the first and/or second layers. Additionally, in some implementations, the method can include etching away a third etch region of the substrate in a third etch process to form a deep ridge etch in the substrate. The third etch region can include at least a portion of the one or more waveguide layers and the one or more spacer layers.

For instance, one particular implementation of a method for forming a photonics integrated circuit according to example aspects of the present disclosure can include growing one or more first layers on a substrate at a first growth stage, the one or more first layers associated with a first semiconductor stack, the one or more first layers including one or more waveguide layers, one or more spacer layers, an n-doped group III-V semiconductor layer, a multiple quantum wells layer, and a p-doped group III-V semiconductor layer. The method can additionally include etching the substrate to remove an etched portion of the first layers not associated with the first semiconductor stack, the etched portion of the first layers not associated with the first semiconductor stack including an etched portion of the n-doped group III-V semiconductor layer, the multiple quantum wells layer, and the p-doped group III-V semiconductor layer. The method can additionally include growing one or more second layers on the substrate in the etched portion of the first layers at a second growth stage to form a second semiconductor stack, the one or more second layers including at least an n-doped semiconductor layer. The method can additionally include growing one or more third layers on the substrate, the one or more third layers associated with both the first semiconductor stack and the second semiconductor stack, the one or more third layers including a p-doped group III-V semiconductor layer and an insulating layer.

Additionally, in some implementations, the method can include etching away a first etch region of the substrate in a first etch process, the first etch region including at least a portion of the one or more third layers, the n-doped semiconductor layer, and the p-doped group III-V semiconductor layer, etching away a second etch region of the substrate in a second etch process, the second etch region including at least a portion of the n-doped semiconductor layer, the p-doped group III-V semiconductor layer, the multiple quantum wells layer, and the n-doped group III-V semiconductor layer; and/or etching away a third etch region of the substrate in a third etch process to form a deep ridge etch in the substrate, the third etch region including at least a portion of the one or more waveguide layers and the one or more spacer layers.

Computing tasks discussed herein as being performed at computing device(s) remote from the autonomous platform (e.g., autonomous vehicle) can instead be performed at the autonomous platform (e.g., via a vehicle computing system of the autonomous vehicle), or vice versa. Such configurations can be implemented without deviating from the scope of the present disclosure. The use of computer-based systems allows for a great variety of possible configurations, combinations, and divisions of tasks and functionality between and among components. Computer-implemented operations can be performed on a single component or across multiple components. Computer-implemented tasks or operations can be performed sequentially or in parallel. Data and instructions can be stored in a single memory device or across multiple memory devices.

Aspects of the disclosure have been described in terms of illustrative implementations thereof. Numerous other implementations, modifications, or variations within the scope and spirit of the appended claims can occur to persons of ordinary skill in the art from a review of this disclosure. Any and all features in the following claims can be combined or rearranged in any way possible. Accordingly, the scope of the present disclosure is by way of example rather than by way of limitation, and the subject disclosure does not preclude inclusion of such modifications, variations or additions to the present subject matter as would be readily apparent to one of ordinary skill in the art. Moreover, terms are described herein using lists of example elements joined by conjunctions such as “and,” “or,” “but,” etc. It should be understood that such conjunctions are provided for explanatory purposes only. Lists joined by a particular conjunction such as “or,” for example, can refer to “at least one of” or “any combination of” example elements listed therein, with “or” being understood as “and/or” unless otherwise indicated. Also, terms such as “based on” should be understood as “based at least in part on.”

Those of ordinary skill in the art, using the disclosures provided herein, will understand that the elements of any of the claims, operations, or processes discussed herein can be adapted, rearranged, expanded, omitted, combined, or modified in various ways without deviating from the scope of the present disclosure. Some of the claims are described with a letter reference to a claim element for exemplary illustrated purposes and is not meant to be limiting. The letter references do not imply a particular order of operations. For instance, letter identifiers such as (a), (b), (c), . . . , (i), (ii), (iii), . . . , etc. can be used to illustrate operations. Such identifiers are provided for the ease of the reader and do not denote a particular order of steps or operations. An operation illustrated by a list identifier of (a), (i), etc. can be performed before, after, or in parallel with another operation illustrated by a list identifier of (b), (ii), etc.

The following describes the technology of this disclosure within the context of a LIDAR system and an autonomous vehicle for example purposes only. As described herein, the technology described herein is not limited to an autonomous vehicle and can be implemented for or within other systems, autonomous platforms, and other computing systems.