Patent ID: 12196884

DETAILED DESCRIPTION

In the following detailed description, reference is made to the accompanying figures, which form a part hereof. In the figures, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the detailed description, figures, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the scope of the subject matter presented herein. It will be readily understood that the aspects of the present disclosure, as generally described herein, and illustrated in the figures, can be arranged, substituted, combined, separated, and designed in a wide variety of different configurations, all of which are explicitly contemplated herein.

Overview

A vehicle may include a plurality of sensors configured to sense various aspects of the environment around the vehicle. For example, the vehicle may include a plurality of LIDAR devices with different fields of view, ranges, and/or purposes. In one example, a LIDAR device may include a single beam with a narrow laser beam spread. The laser beam spread may be about 0.1°×0.03° resolution, however other beam resolutions are possible. The LIDAR system may be mounted to a roof of a vehicle, although other mounting locations are possible.

The laser beam may be steerable over 360° about a vertical axis extending through the vehicle. For example, the LIDAR system may be mounted with a rotational bearing configured to allow the LIDAR system to rotate about a vertical axis. A stepper motor may be configured to control the rotation of the LIDAR system. Furthermore, the laser beam may be steered about a horizontal axis such that the beam can be moved up and down. For example, a portion of the LIDAR system, e.g. various optics, may be coupled to the LIDAR system mount via a spring. The various optics may be moved about the horizontal axis such that the laser beam is steered up and down. The spring may include a resonant frequency. The resonant frequency may be around 140 Hz. Alternatively, the resonant frequency may be another frequency. The laser beam may be steered using a combination of mirrors, motors, springs, magnets, lenses, and/or other known means to steer light beams.

The laser may be a fiber laser that produces 1550 nm laser light, although other wavelengths are possible. Furthermore, the pulse repetition rate of the LIDAR light source may be 4 Hz. The effective range of such a LIDAR system may be 300 meters, or more.

The laser beam may be steered by a control system of the vehicle or a control system associated with the LIDAR system. For example, in response to the vehicle approaching an intersection, the LIDAR system may scan for oncoming traffic to the left and oncoming traffic to the right. Other sensing scenarios are possible.

In an example embodiment, the LIDAR system may be steered so as to identify particular objects. For example, the LIDAR system may be operable to identify the shoulders or another part of a pedestrian. In another example, the LIDAR system may be operable to identify the wheels on a bicycle.

The LIDAR system described herein may operate in conjunction with other sensors on the vehicle. For example, the LIDAR system may be used to identify specific objects in particular situations. Target information may be determined based on data from any one of, or a combination of, other sensors associated with the vehicle.

As a specific example, a general-purpose LIDAR system may provide data related to, for instance, a car passing on the vehicle's right. A controller may determine target information based on the data from the general-purpose LIDAR system. Based on the target information, the controller may cause the LIDAR system disclosed herein to scan for the specific passing car and evaluate the target object with higher resolution and/or with a higher pulse repetition rate.

The embodiments disclosed herein may be used on any type of vehicle, including conventional automobiles and automobiles having an autonomous mode of operation. However, the term “vehicle” is to be broadly construed to cover any moving object, including, for instance, a truck, a van, a semi-trailer truck, a motorcycle, a golf cart, an off-road vehicle, a warehouse transport vehicle, or a farm vehicle, as well as a carrier that rides on a track such as a rollercoaster, trolley, tram, or train car, among other examples.

System Examples

FIG.1Aillustrates a vehicle100, according to an example embodiment. In particular,FIG.1Ashows a Right Side View, Front View, Back View, and Top View of the vehicle100. Although vehicle100is illustrated inFIG.1Aas a car, as discussed above, other embodiments are possible. Furthermore, although the example vehicle100is shown as a vehicle that may be configured to operate in autonomous mode, the embodiments described herein are also applicable to vehicles that are not configured to operate autonomously. Thus, the example vehicle100is not meant to be limiting. As shown, the vehicle100includes five sensor units102,104,106,108, and110, and four wheels, exemplified by wheel112.

In line with the discussion above, each of the sensor units102,104,106,108, and110may include one or more light detection and ranging devices (LIDARs) that may be configured to scan an environment around the vehicle100according to various road conditions or scenarios. Additionally or alternatively, in some embodiments, the sensor units102,104,106,108, and110may include any combination of global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, LIDARs, and/or acoustic sensors among other possibilities.

As shown, the sensor unit102is mounted to a top side of the vehicle100opposite to a bottom side of the vehicle100where the wheel112is mounted. Further, the sensor units104,106,108, and110are each mounted to a given side of the vehicle100other than the top side. For example, the sensor unit104is positioned at a front side of the vehicle100, the sensor106is positioned at a back side of the vehicle100, the sensor unit108is positioned at a right side of the vehicle100, and the sensor unit110is positioned at a left side of the vehicle100.

While the sensor units102,104,106,108, and110are shown to be mounted in particular locations on the vehicle100, in some embodiments, the sensor units102,104,106,108, and110may be mounted elsewhere on the vehicle100, either inside or outside the vehicle100. For example, althoughFIG.1Ashows the sensor unit108mounted to a right-side rear-view mirror of the vehicle100, the sensor unit108may alternatively be positioned in another location along the right side of the vehicle100. Further, while five sensor units are shown, in some embodiments more or fewer sensor units may be included in the vehicle100.

In some embodiments, one or more of the sensor units102,104,106,108, and110may include one or more movable mounts on which the sensors may be movably mounted. The movable mount may include, for example, a rotating platform. Sensors mounted on the rotating platform could be rotated so that the sensors may obtain information from various directions around the vehicle100. For example, a LIDAR of the sensor unit102may have a viewing direction that can be adjusted by actuating the rotating platform to a different direction, etc. Alternatively or additionally, the movable mount may include a tilting platform. Sensors mounted on the tilting platform could be tilted within a given range of angles and/or azimuths so that the sensors may obtain information from a variety of angles. The movable mount may take other forms as well.

Further, in some embodiments, one or more of the sensor units102,104,106,108, and110may include one or more actuators configured to adjust the position and/or orientation of sensors in the sensor unit by moving the sensors and/or movable mounts. Example actuators include motors, pneumatic actuators, hydraulic pistons, relays, solenoids, and piezoelectric actuators. Other actuators are possible as well.

As shown, the vehicle100includes one or more wheels such as the wheel112that are configured to rotate to cause the vehicle to travel along a driving surface. In some embodiments, the wheel112may include at least one tire coupled to a rim of the wheel112. To that end, the wheel112may include any combination of metal and rubber, or a combination of other materials. The vehicle100may include one or more other components in addition to or instead of those shown.

FIG.1Bis a perspective view of the sensor unit102positioned at the top side of the vehicle100shown inFIG.1A. As shown, the sensor unit102includes a first LIDAR120, a second LIDAR122, a dividing structure124, and light filter126.

In some examples, the first LIDAR120may be configured to scan an environment around the vehicle100by rotating about an axis (e.g., vertical axis, etc.) continuously while emitting one or more light pulses and detecting reflected light pulses off objects in the environment of the vehicle, for example. In some embodiments, the first LIDAR120may be configured to repeatedly rotate about the axis to be able to scan the environment at a sufficiently high refresh rate to quickly detect motion of objects in the environment. For instance, the first LIDAR120may have a refresh rate of 10 Hz (e.g., ten complete rotations of the first LIDAR120per second), thereby scanning a 360-degree FOV around the vehicle ten times every second. Through this process, for instance, a 3D map of the surrounding environment may be determined based on data from the first LIDAR120. In one embodiment, the first LIDAR120may include a plurality of light sources that emit 64 laser beams having a wavelength of 905 nm. In this embodiment, the 3D map determined based on the data from the first LIDAR120may have a 0.2° (horizontal)×0.3° (vertical) angular resolution, and the first LIDAR120may have a 360° (horizontal)×20° (vertical) FOV of the environment. In this embodiment, the 3D map may have sufficient resolution to detect or identify objects within a medium range of 100 meters from the vehicle100, for example. However, other configurations (e.g., number of light sources, angular resolution, wavelength, range, etc.) are possible as well.

Unlike the first LIDAR120, in some embodiments, the second LIDAR122may be configured to scan a narrower FOV of the environment around the vehicle100. For instance, the second LIDAR122may be configured to rotate (horizontally) for less than a complete rotation about a similar axis. Further, in some examples, the second LIDAR122may have a lower refresh rate than the first LIDAR120. Through this process, the vehicle100may determine a 3D map of the narrower FOV of the environment using the data from the second LIDAR122. The 3D map in this case may have a higher angular resolution than the corresponding 3D map determined based on the data from the first LIDAR120, and may thus allow detection/identification of objects that are further than the medium range of distances of the first LIDAR120, as well as identification of smaller objects within the medium range of distances. In one embodiment, the second LIDAR122may have a FOV of 8° (horizontal)×15° (vertical), a refresh rate of 4 Hz, and may emit one narrow beam having a wavelength of 1550 nm. In this embodiment, the 3D map determined based on the data from the second LIDAR122may have an angular resolution of 0.1° (horizontal)×0.03° (vertical), thereby allowing detection/identification of objects within a range of around three hundred meters from the vehicle100. However, other configurations (e.g., number of light sources, angular resolution, wavelength, range, etc.) are possible as well.

In some examples, the vehicle100may be configured to adjust a viewing direction of the second LIDAR122. For example, while the second LIDAR122has a narrow horizontal FOV (e.g., 8 degrees), the second LIDAR122may be mounted to a stepper motor (not shown) that allows adjusting the viewing direction of the second LIDAR122to pointing directions other than that shown inFIG.1B. Thus, in some examples, the second LIDAR122may be steerable to scan the narrow FOV along any pointing direction from the vehicle100.

The structure, operation, and functionality of the second LIDAR122are described in greater detail within exemplary embodiments herein.

The dividing structure124may be formed from any solid material suitable for supporting the first LIDAR120and/or optically isolating the first LIDAR120from the second LIDAR122. Example materials may include metals, plastics, foam, among other possibilities.

The light filter126may be formed from any material that is substantially transparent to light having wavelengths with a wavelength range, and substantially opaque to light having wavelengths outside the wavelength range. For example, the light filter126may allow light having the first wavelength of the first LIDAR120(e.g., 905 nm) and the second wavelength of the second LIDAR122(e.g., 1550 nm) to propagate through the light filter126. As shown, the light filter126is shaped to enclose the first LIDAR120and the second LIDAR122. Thus, in some examples, the light filter126may also be configured to prevent environmental damage to the first LIDAR120and the second LIDAR122, such as accumulation of dust or collision with airborne debris, among other possibilities. In some examples, the light filter126may be configured to reduce visible light propagating through the light filter126. In turn, the light filter126may improve an aesthetic appearance of the vehicle100by enclosing the first LIDAR120and the second LIDAR122, while reducing visibility of the components of the sensor unit102from a perspective of an outside observer, for example. In other examples, the light filter126may be configured to allow visible light as well as the light from the first LIDAR120and the second LIDAR122.

In some embodiments, portions of the light filter126may be configured to allow different wavelength ranges to propagate through the light filter126. For example, an upper portion of the light filter126above the dividing structure124may be configured to allow propagation of light within a first wavelength range that includes the first wavelength of the first LIDAR120. Further, for example, a lower portion of the light filter126below the dividing structure124may be configured to allow propagation of light within a second wavelength range that includes the second wavelength of the second LIDAR122. In other embodiments, the wavelength range associated with the light filter126may include both the first wavelength of the first LIDAR120and the second wavelength of the second LIDAR122.

FIG.1Cis a perspective view of the sensor unit104positioned at the front side of the vehicle100shown inFIG.1A. In some examples, the sensor units106,108, and110may be configured similarly to the sensor unit104illustrated inFIG.1C. As shown, the sensor unit104includes a third LIDAR130and a light filter132.

The third LIDAR130may be configured to scan a FOV of the environment around the vehicle100that extends away from a given side of the vehicle100(i.e., the front side) where the third LIDAR130is positioned. Thus, in some examples, the third LIDAR130may be configured to rotate (e.g., horizontally) across a wider FOV than the second LIDAR122but less than the 360-degree FOV of the first LIDAR120due to the positioning of the third LIDAR130. In one embodiment, the third LIDAR130may have a FOV of 270° (horizontal)×110° (vertical), a refresh rate of 4 Hz, and may emit one laser beam having a wavelength of 905 nm. In this embodiment, the 3D map determined based on the data from the third LIDAR130may have an angular resolution of 1.2° (horizontal)×0.2° (vertical), thereby allowing detection/identification of objects within a short range of 30 meters to the vehicle100. However, other configurations (e.g., number of light sources, angular resolution, wavelength, range, etc.) are possible as well. The structure, operation, and functionality of the third LIDAR130are described in greater detail within exemplary embodiments of the present disclosure.

The light filter132may be similar to the light filter126ofFIG.1B. For example, the light filter132may be shaped to enclose the third LIDAR130. Further, for example, the light filter132may be configured to allow light within a wavelength range that includes the wavelength of light from the third LIDAR130to propagate through the light filter132. In some examples, the light filter132may be configured to reduce visible light propagating through the light filter132, thereby improving an aesthetic appearance of the vehicle100.

FIG.1Dillustrates a scenario where the vehicle100is operating on a surface140. The surface140, for example, may be a driving surface such as a road or a highway, or any other surface. InFIG.1D, the arrows142,144,146,148,150,152illustrate light pulses emitted by various LIDARs of the sensor units102and104at ends of the vertical FOV of the respective LIDAR.

By way of example, arrows142and144illustrate light pulses emitted by the first LIDAR120ofFIG.1B. In this example, the first LIDAR120may emit a series of pulses in the region of the environment between the arrows142and144and may receive reflected light pulses from that region to detect and/or identify objects in that region. Due to the positioning of the first LIDAR120(not shown) of the sensor unit102at the top side of the vehicle100, the vertical FOV of the first LIDAR120is limited by the structure of the vehicle100(e.g., roof, etc.) as illustrated inFIG.1D. However, the positioning of the first LIDAR120in the sensor unit102at the top side of the vehicle100allows the first LIDAR120to scan all directions around the vehicle100by rotating about a substantially vertical axis170. Similarly, for example, the arrows146and148illustrate light pulses emitted by the second LIDAR122ofFIG.1Bat the ends of the vertical FOV of the second LIDAR122. Further, the second LIDAR122may also be steerable to adjust a viewing direction of the second LIDAR122to any direction around the vehicle100in line with the discussion. In one embodiment, the vertical FOV of the first LIDAR120(e.g., angle between arrows142and144) is 20° and the vertical FOV of the second LIDAR122is 15° (e.g., angle between arrows146and148). However, other vertical FOVs are possible as well depending, for example, on factors such as structure of the vehicle100or configuration of the respective LIDARs.

As shown inFIG.1D, the sensor unit102(including the first LIDAR120and/or the second LIDAR122) may scan for objects in the environment of the vehicle100in any direction around the vehicle100(e.g., by rotating, etc.), but may be less suitable for scanning the environment for objects in close proximity to the vehicle100. For example, as shown, objects within distance154to the vehicle100may be undetected or may only be partially detected by the first LIDAR120of the sensor unit102due to positions of such objects being outside the region between the light pulses illustrated by the arrows142and144. Similarly, objects within distance156may also be undetected or may only be partially detected by the second LIDAR122of the sensor unit102.

Accordingly, the third LIDAR130(not shown) of the sensor unit104may be used for scanning the environment for objects that are close to the vehicle100. For example, due to the positioning of the sensor unit104at the front side of the vehicle100, the third LIDAR130may be suitable for scanning the environment for objects within the distance154and/or the distance156to the vehicle100, at least for the portion of the environment extending away from the front side of the vehicle100. As shown, for example, the arrows150and152illustrate light pulses emitted by the third LIDAR130at ends of the vertical FOV of the third LIDAR130. Thus, for example, the third LIDAR130of the sensor unit104may be configured to scan a portion of the environment between the arrows150and152, including objects that are close to the vehicle100. In one embodiment, the vertical FOV of the third LIDAR130is 110° (e.g., angle between arrows150and152). However, other vertical FOVs are possible as well.

It is noted that the angles between the various arrows142-152shown inFIG.1Dare not to scale and are for illustrative purposes only. Thus, in some examples, the vertical FOVs of the various LIDARs may vary as well.

FIG.1Eillustrates a top view of the vehicle100in a scenario where the vehicle100is scanning a surrounding environment. In line with the discussion above, each of the various LIDARs of the vehicle100may have a particular resolution according to its respective refresh rate, FOV, or any other factor. In turn, the various LIDARs may be suitable for detection and/or identification of objects within a respective range of distances to the vehicle100.

As shown inFIG.1E, contours160and162illustrate an example range of distances to the vehicle100where objects may be detected/identified based on data from the first LIDAR120of the sensor unit102. As illustrated, for example, close objects within the contour160may not be properly detected and/or identified due to the positioning of the sensor unit102on the top side of the vehicle100. However, for example, objects outside of contour160and within a medium range of distances (e.g., 100 meters, etc.) defined by the contour162may be properly detected/identified using the data from the first LIDAR120. Further, as shown, the horizontal FOV of the first LIDAR120may span 360° in all directions around the vehicle100.

Further, as shown inFIG.1E, contour164illustrates a region of the environment where objects may be detected and/or identified using the higher resolution data from the second LIDAR122of the sensor unit102. As shown, the contour164includes objects further away from the vehicle100over a relatively longer range of distances (e.g., 300 meters, etc.), for example. Although the contour164indicates a narrower FOV (horizontally) of the second LIDAR122, in some examples, the vehicle100may be configured to adjust the viewing direction of the second LIDAR122to any other direction than that shown inFIG.1E. By way of example, the vehicle100may detect an object using the data from the first LIDAR120(e.g., within the contour162), adjust the viewing direction of the second LIDAR122to a FOV that includes the object, and then identify the object using the higher resolution data from the second LIDAR122. In one embodiment, the horizontal FOV of the second LIDAR122may be 8°.

Further, as shown inFIG.1E, contour166illustrates a region of the environment scanned by the third LIDAR130of the sensor unit104. As shown, the region illustrated by the contour166includes portions of the environment that may not be scanned by the first LIDAR120and/or the second LIDAR124, for example. Further, for example, the data from the third LIDAR130has a resolution sufficient to detect and/or identify objects within a short distance (e.g., 30 meters, etc.) to the vehicle100.

It is noted that the ranges, resolutions, and FOVs described above are for exemplary purposes only, and may vary according to various configurations of the vehicle100. Further, the contours160,162,164, and166shown inFIG.1Eare not to scale but are illustrated as shown for convenience of description.

FIG.2illustrates a system200that may include a vehicle210and a controller230. The vehicle210could be similar or identical to vehicle100illustrated and described in reference toFIG.1. The system200may include one or more sensing devices212, a housing214, a rotational mount216, and a LIDAR device220. The controller230may include a processor232and a memory234.

The sensing device212may be configured to provide environmental data about an environment around the vehicle210. The sensing device212may be coupled to the vehicle, however locations of the sensing device212remote to the vehicle are possible. The sensing device212may include a camera, a LIDAR device, a RADAR device, a sonar transducer, or another type of sensor.

LIDAR device220may be configured to rotate about an axis that passes from top to bottom through the vehicle. As such, the LIDAR device220may be configured to emit laser light into the environment around the vehicle and receive reflected light back from objects in the environment. By analyzing the received light, a point cloud may be formed that could provide a three-dimensional (3D) representation of the environment. In other words, the LIDAR device220may be able to provide information about a 360-degree field of view around the vehicle.

The LIDAR device220may be similar or identical to the second LIDAR device124as described and illustrated in reference toFIG.1above. The LIDAR device220may be coupled to the vehicle210. The LIDAR device220includes a light source222, which may be configured to emit light at one or more wavelengths. In an example embodiment, the LIDAR device220may be configured to emit light at a 1550 nm wavelength. Other emission wavelengths are possible. The light source222of the LIDAR device220may be a fiber laser, such as a laser that includes an optical fiber doped with rare-earth elements that may serve as an active gain medium. Alternatively, the light source222could be another type of laser.

In an example embodiment, a scanning portion224of the LIDAR device220may be configured to direct the emitted light in a reciprocating manner about a first axis. In an example embodiment, the scanning portion224may include a moveable mirror, a spring, and an actuator. The light source222of the LIDAR device220may emit light toward the moveable mirror. The spring and the actuator may be configured to move the moveable mirror in a reciprocating manner about a horizontal axis so as to move a beam of emitted light in along a substantially vertical line.

In some embodiments, the spring and the actuator may be configured to move the moveable mirror about the first axis at a resonant frequency. The resonant frequency could be 140 Hz, but other frequencies are possible.

Furthermore, at least the moveable mirror may be mounted on the rotational mount216. In an example embodiment, the scanning portion224of the LIDAR device220may be disposed within a housing214. The housing214may be positioned at a top side of the vehicle210. In such a scenario, a second axis may be defined as passing through the top and the bottom of the vehicle210. As described above, the rotational mount216may be coupled to the moveable mirror, such that the moveable mirror may rotate about the second axis. Accordingly, the moveable mirror may be configured to direct light within a 360-degree field of view around the vehicle210. In other example embodiments, the rotational mount216need not be configured to rotate 360 degrees, but rather within a smaller angle range.

The housing214may include a light filter. The light filter may be dome-shaped and may be configured to reduce an amount of visible light propagating through the light filter.

The LIDAR device220may further include one or more detectors226configured to receive the reflected emission light from the environment. In an example embodiment, the LIDAR device220may be configured to form a 3D representation based on the environmental information. Furthermore, the LIDAR device220may be configured to determine objects in the environment based on the 3D representation.

LIDAR device220may be configured to operate in response to environmental information provided by the other sensing devices212. For instance, the other sensing devices212may obtain environmental information that may indicate an object in the environment of the vehicle. Target information may be determined based on the environmental information. Namely, the target information may include a type, size, or shape of an object, a particular distance, a particular position, or an angle range. In some embodiments, the target information may be indicative of a target object about which higher quality information is requested, e.g. higher resolution, further number of scans, etc. For example, if another sensing device212provides environmental information that indicates a possible pedestrian near a crosswalk, target information may be based on a location of the possible pedestrian.

FIG.3Aillustrates a view of a LIDAR device300, according to an example embodiment. The LIDAR device300may be similar or identical to the second LIDAR122as illustrated and described in reference toFIG.1B. For example, the LIDAR device300may be mounted at a top side of a vehicle such as the vehicle100similarly to the second LIDAR122of theFIG.1B. As shown, the LIDAR device300includes an optics assembly310, a mirror320, a pin322, and a platform330. Additionally, light beams304emitted by the second LIDAR device300propagate away from the mirror320along a viewing direction of the second LIDAR300toward an environment of the LIDAR device300, and reflect of one or more objects in the environment as reflected light306.

The optics assembly310may be configured to emit light pulses towards the mirror320that are then reflected by the mirror320as the emitted light304. Further, the optics assembly310may be configured to receive reflected light306that is reflected off the mirror320. In one embodiment, the optics assembly310may include a single laser emitter that is configured to provide a narrow beam having a wavelength of 1550 nm. In this embodiment, the narrow beam may have a high energy sufficient for detection of objects within a long range of distances, similarly to the second LIDAR122ofFIG.1B. In other embodiments, the optics assembly310may include multiple light sources similarly to the LIDAR200ofFIGS.2A-2B. Further, in some examples, the optics assembly310may include a single lens for both collimation of emitted light304and focusing of reflected light306. In other examples, the optics assembly310may include a first lens for collimation of emitted light304and a second lens for focusing of reflected light306.

The mirror320may be arranged to steer emitted light304from the optics assembly310towards the viewing direction of the LIDAR300as illustrated inFIG.3A. Similarly, for example, the mirror320may be arranged to steer reflected light306from the environment towards the optics assembly310.

The pin322may be configured to mount the mirror320to the LIDAR device300. In turn, the pin322can be formed from any material capable of supporting the mirror320. For example, the pin322may be formed from a solid material such as plastic or metal among other possibilities. In some examples, the LIDAR300may be configured to rotate the mirror320about the pin322over a given range of angles to steer the emitted light304vertically. In one embodiment, the LIDAR300may rotate the mirror320about the pin322over the range of angles of 15°. In this embodiment, the vertical FOV of the LIDAR300may correspond to 15°. However, other vertical FOVs are possible as well according to various factors such as the mounting position of the LIDAR300or any other factor.

The platform330can be formed from any material capable of supporting various components of the LIDAR300such as the optics assembly310and the mirror320. For example, the platform330may be formed from a solid material such as plastic or metal among other possibilities. In some examples, the platform330may be configured to rotate about an axis of the LIDAR device300. For example, the platform330may include a motor such as a stepper motor to facilitate such rotation. In some examples, the axis is substantially vertical. By rotating the platform330that supports the various components, in some examples, the platform330may steer the emitted light304horizontally, thus allowing the LIDAR300to have a horizontal FOV. In one embodiment, the platform330may rotate for a defined amount of rotation such as 8°. In this embodiment, the LIDAR300may thus have a horizontal FOV of 8°, similarly to the second LIDAR122ofFIG.1B. In another embodiment, the platform330may rotate for complete 360° rotation such that the horizontal FOV is 360°, similarly to the first LIDAR120ofFIG.1B. Other configurations of the platform330are possible as well.

FIG.3Billustrates a view of a LIDAR device300, according to an example embodiment. Namely,FIG.3Bis an overhead oblique view of the LIDAR device300.

FIGS.4A and4Billustrate different cross-sectional views of a LIDAR device400, according to an example embodiment. The LIDAR device400may be similar or identical to other devices disclosed herein, such as LIDAR device200and LIDAR device300as illustrated and described in reference toFIGS.2,3A, and3B. Furthermore, LIDAR device400may be one of a plurality of LIDAR sensor devices incorporated into a vehicle such as vehicle100illustrated and described in reference toFIGS.1A and1B.

The LIDAR device400may include a moveable mirror402, a light source404, an emission mirror406, a lens408, and one or more detectors410. The LIDAR device400may be enclosed by a light filter412.

As described elsewhere herein, the light source404may be a fiber laser. The light source404may emit emission light at 1550 nm. The emission light from the light source404may be reflected off the emission mirror406. The emission mirror406may be a flat mirror. Alternatively or additionally, the emission mirror406may include a converging mirror, a diverging mirror, or another type of reflective optic device, e.g. cylindrical lens. One of skill in the art will recognize that the emission mirror406may represent one or more optical components configured to direct emission light towards the moveable mirror402. Furthermore, the one or more optical components may be configured to shape, reflect, focus, or otherwise modify the emission light from the light source404.

The emission light may optionally be focused by lens408before interacting with the moveable mirror402. Alternatively, the emission light may pass through an opening (e.g. a pass-through slit or aperture) in the lens408before interacting with the moveable mirror402. Additionally or alternatively, the emission light may be focused or otherwise modified by another optical element.

The light filter412may be configured to be substantially transparent to at least some wavelengths of emission light. The light filter412may be configured to be substantially opaque to other wavelengths of light.

As described elsewhere herein, the LIDAR device400may be configured to rotate on a rotational mount414. Specifically, rotational mount414may be configured to rotate about a vertical axis. The moveable mirror402may be configured to rotate about pin416in a reciprocating manner, so as to direct emission light upwards and downwards along a vertical plane. The combination of the rotational motion via rotational mount414and the reciprocating motion of the movable mirror402may enable the illumination of a field of view of an environment of a vehicle.

Emission light may interact with objects and surfaces in the vehicle's environment. At least a portion of the emission light may be reflected back towards the LIDAR device400and the moveable mirror402as reflected light. The reflected light may interact with the moveable mirror402such that the moveable mirror402directs the reflected light towards lens408. Lens408may focus, collimate, or otherwise modify the reflected light such that it interacts with the one or more detectors410.

As described elsewhere herein, the reflected light collected by the one or more detectors410may be used to form a spatial point cloud. The spatial point cloud may provide information about objects and/or surfaces in the field of view of the LIDAR device400.

FIG.5illustrates a representation of a scene500, according to an example embodiment. Specifically,FIG.5may illustrate a spatial point cloud of an environment based on data from the LIDAR device300and400ofFIGS.3A,3B,4A, and4B. The spatial point cloud may represent a three-dimensional (3D) representation of the environment around a vehicle. The 3D representation may be generated by a computing device as a 3D point cloud based on the data from the LIDAR device300and400ofFIGS.3A,3B,4A, and4B. Each point of the 3D cloud, for example, may be associated with a reflected light pulse from the reflected light beams306shown inFIG.3A. Thus, as shown, points at a greater distance from the LIDAR device300are further from one another due to the angular resolution of the LIDAR device300.

Based on the rotation of the LIDAR device300, the scene500includes a scan of the environment in all directions (360° horizontally) as shown inFIG.5. Further, as shown, a region502of the scene500does not include any points. For example, the region502may correspond to the contour160(FIG.1E) around the vehicle100that the LIDAR device300ofFIG.3Ais unable to scan due to positioning at the top side of the vehicle100. Further, as shown, a region504is indicative of objects in the environment of the LIDAR device300. For example, the objects in the region504may correspond to pedestrians, vehicles, or other obstacles in the environment of the LIDAR device300. In an example scenario where the LIDAR device300is mounted to a vehicle such as the vehicle100, the vehicle100may utilize the spatial point cloud information from the scene500to navigate the vehicle away from region504towards region506that does not include the obstacles of the region504.

FIG.6illustrates a representation of a scene600, according to an example embodiment. In some examples, a 3D representation may be generated based on spatial point cloud data generated by LIDAR device300or400ofFIGS.3A,3B,4A, and4B. Each point of the 3D cloud, for example, may be associated with a reflected light pulse from the reflected light beams306shown inFIG.3A.

As shown, the representation of the scene600includes a region602similar to the region502of scene500that may represent an unscanned or unscannable region due to the positioning of the LIDAR device300at the top side of a vehicle. For example, the region602may correspond to the contour160ofFIG.1Earound the vehicle100.

Unlike the representation of the scene500ofFIG.5, however, the representation of the scene600may span a much narrower field-of-view. For example, the FOV scanned by the LIDAR300and illustrated in the representation of the scene600may correspond to the contour164ofFIG.1E. Due in part to the narrower FOV, the representation of the scene600has a higher resolution than the representation of the scene500. For instance, points in the point cloud of scene600are closer to one another and thus some objects in the environment may be more easily identified compared to the objects in the environment represented by scene500.

In an example scenario, a vehicle such as the vehicle100may include a first LIDAR (e.g., first LIDAR120) and a second LIDAR (e.g., second LIDAR122). In the scenario, the vehicle may utilize data from the first LIDAR to generate the representation of scene500ofFIG.5. Further, in the scenario, the vehicle may determine that the region504of the representation of scene500as a region of interest, or a target object/location, for further scanning. In turn, the vehicle in the scenario may adjust a viewing direction of the second LIDAR to scan the region of interest and obtain the representation of scene600ofFIG.6. In the scenario, the vehicle may process the representation of scene600using a computing process such as an image processing algorithm or a shape detection algorithm. In turn, the vehicle of the scenario may identify an object in region604of the representation of scene600as a pedestrian, and another object in region606as a light post. In the scenario, the vehicle may then navigate accordingly.

In one instance, the vehicle may navigate to be within a first threshold distance to the objects if the objects include a pedestrian (e.g., as indicated by region604), or a lower second threshold distance if the objects include inanimate objects such as the light post (e.g., indicated by region606) among other possibilities. In another instance, the vehicle may assign the second LIDAR to track the objects if an animate object is identified (e.g., region604), or may assign the second LIDAR to track other objects if only inanimate objects were identified. Other navigational operations are possible in line with the scenario.

In an example embodiment, the region of interest or target object/location may be determined based on target information. The target information may include a specific object of interest, a pedestrian, another vehicle, an intersection, a traffic signal, a crosswalk, a “blind” spot of a vehicle, or any number of other targets that may be of interest in navigating a vehicle. The target information may be received by a controller of the LIDAR system and may be provided by a sensing device. The sensing device could include another LIDAR system or it could be another type of sensor, such as a camera, an ultrasonic transducer, and/or a RADAR.

Alternatively or additionally, target information may be based on a map of the environment around the vehicle, a location of the vehicle, or a movement of the vehicle. Other target information is possible to assist in vehicle navigation and object avoidance.

Thus, in some examples, a vehicle that includes a combination of sensors and the LIDAR device disclosed herein may utilize the respective characteristics of each sensor such as refresh rate, resolution, FOV, position, etc., to scan the environment according to various road conditions and/or scenarios.

FIG.7illustrates a representation of a scene700, according to an example embodiment. As a further illustrative example,FIG.7may include another spatial point cloud that may be generated by LIDAR device300or400as illustrated and described in reference toFIGS.3A,3B,4A, and4B. Namely,FIG.7may include a blind (unscannable) region702and a representation of a person704.

FIG.8illustrates a vehicle800operating in an environment that includes one or more objects, according to an example embodiment. The vehicle800may be similar to the vehicle100. For example, as shown, the vehicle800includes sensor units802,806,808, and810that are similar, respectively, to the sensor units102,106,108, and110of the vehicle100. For instance, the sensor unit802may include a first LIDAR (not shown) and a second LIDAR (not shown) that are similar, respectively, to the first LIDAR120and the second LIDAR122of the vehicle100. Further, for instance, each of the sensor units806-810may also include a LIDAR similar to the third LIDAR130of the vehicle100. As shown, the environment of the vehicle800includes various objects such as cars812,814,816, road sign818, tree820, building822, street sign824, pedestrian826, dog828, car830, driveway832, and lane lines including lane line834. In accordance with the present disclosure, the vehicle800may perform the methods and processes herein, such as methods500-700, to facilitate autonomous operation of the vehicle800and/or accidence avoidance by the vehicle800. Below are example scenarios for operation of the vehicle800in accordance with the present disclosure.

In a first scenario, the vehicle800may detect the road sign818using a medium range LIDAR, similar to the first LIDAR120of the vehicle100. In other words, the first LIDAR120or another sensor may provide target information to a controller230of the LIDAR system200. In turn, the vehicle800may adjust a viewing direction of a higher resolution LIDAR and/or longer range LIDAR, similar to the second LIDAR122of the vehicle100, to analyze the road sign818for information. The higher resolution of the second LIDAR, for instance, may allow resolving the information due to differences of reflectivity of features in the road sign818. In one instance of the scenario, the road sign may indicate hazards ahead or a closed lane, and the vehicle800may adjust its speed or change lanes accordingly. In another instance of the scenario, the road sign may indicate traffic delays ahead, and the vehicle800may then instruct a navigation system of the vehicle800to determine an alternate route. Other variations of the scenario are possible as well.

In a second scenario, the vehicle800may use various sensors to detect and/or identify the various objects illustrated inFIG.8. The various sensors may provide to controller230target information that relates to the environment around vehicle800. For example, the vehicle800may identify the cars812-816as moving objects that may be relevant to the navigational behavior of the vehicle800. Accordingly, the vehicle800may use LIDAR device300or400to track the cars812-816and facilitate such navigation. For instance, the vehicle800may adjust its speed, or may change lanes to avoid contact with the cars812-816based on data from the LIDAR device300or400.

In a third scenario, the vehicle800may utilize a first LIDAR of the sensor unit802, similar to the LIDAR120of the vehicle100, to detect and/or identify the car814that is within a threshold distance (e.g., medium range of distances) to the vehicle800. In the scenario, the car814may be in the process of changing lanes to the same lane as the vehicle800. In the scenario, the vehicle800may need to adjust its speed and/or change lanes to maintain a safe distance to the car814. However, data from the first LIDAR may have a first resolution insufficient to detect whether the car814is crossing the lane line834, or may be insufficient to even detect/identify the lane line834. Thus, in the scenario, the vehicle800may adjust a viewing direction of a second LIDAR, similar to the second LIDAR122or the LIDAR device300or400, that is included in the sensor unit802and that has a higher second resolution than the first resolution of the first LIDAR. In turn, the vehicle800may resolve the lane line834and/or whether the car814is crossing the lane lines. Alternatively, for instance, the vehicle800may utilize the higher resolution of the second LIDAR to detect a left light signal of the car814to determine that the vehicle814is changing lanes among other possibilities.

In a fourth scenario, the car816may be driving erratically or moving at a high speed relative to the vehicle800among other possibilities. In this scenario, the vehicle800may track the car816using the LIDAR device300or400, and may navigate accordingly (e.g., change lanes, adjust speed, etc.) to avoid contact with the car816.

Other scenarios are possible as well. Thus, the present methods and systems may facilitate autonomous operation and/or accidence avoidance for a vehicle such as the vehicle800by utilizing a high-resolution LIDAR system configured to provide information about the environment around vehicle800.

FIG.9is a simplified block diagram of a vehicle900, according to an example embodiment. The vehicle900may be similar to the vehicles100and/or800. Further, the vehicle900may be configured to perform functions and methods herein such as the methods500,600, and/or700. As shown, the vehicle900includes a propulsion system902, a sensor system904, a control system906, peripherals908, and a computer system910. In other embodiments, the vehicle900may include more, fewer, or different systems, and each system may include more, fewer, or different components. Additionally, the systems and components shown may be combined or divided in any number of ways.

The propulsion system902may be configured to provide powered motion for the vehicle900. As shown, the propulsion system902includes an engine/motor918, an energy source920, a transmission922, and wheels/tires924.

The engine/motor918may be or include any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine. Other motors and engines are possible as well. In some embodiments, the propulsion system902may include multiple types of engines and/or motors. For instance, a gas-electric hybrid car may include a gasoline engine and an electric motor. Other examples are possible.

The energy source920may be a source of energy that powers the engine/motor918in full or in part. That is, the engine/motor918may be configured to convert the energy source920into mechanical energy. Examples of energy sources920include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source(s)920may additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. In some embodiments, the energy source920may provide energy for other systems of the vehicle900as well.

The transmission922may be configured to transmit mechanical power from the engine/motor918to the wheels/tires924. To this end, the transmission922may include a gearbox, clutch, differential, drive shafts, and/or other elements. In embodiments where the transmission922includes drive shafts, the drive shafts may include one or more axles that are configured to be coupled to the wheels/tires924.

The wheels/tires924of vehicle900may be configured in various formats, including a unicycle, bicycle/motorcycle, tricycle, or car/truck four-wheel format. Other wheel/tire formats are possible as well, such as those including six or more wheels. In any case, the wheels/tires924may be configured to rotate differentially with respect to other wheels/tires924. In some embodiments, the wheels/tires924may include at least one wheel that is fixedly attached to the transmission922and at least one tire coupled to a rim of the wheel that could make contact with the driving surface. The wheels/tires924may include any combination of metal and rubber, or combination of other materials. The propulsion system902may additionally or alternatively include components other than those shown.

The sensor system904may include a number of sensors configured to sense information about an environment in which the vehicle900is located, as well as one or more actuators936configured to modify a position and/or orientation of the sensors. As shown, the sensors of the sensor system904include a Global Positioning System (GPS)926, an inertial measurement unit (IMU)928, a RADAR unit930, a laser rangefinder and/or LIDAR unit932, and a camera934. The sensor system904may include additional sensors as well, including, for example, sensors that monitor internal systems of the vehicle900(e.g., an O2monitor, a fuel gauge, an engine oil temperature, etc.). Further, the sensor system904may include multiple LIDARs. In some examples, the sensor system904may be implemented as multiple sensor units each mounted to the vehicle in a respective position (e.g., top side, bottom side, front side, back side, right side, left side, etc.). Other sensors are possible as well.

The GPS926may be any sensor (e.g., location sensor) configured to estimate a geographic location of the vehicle900. To this end, the GPS926may include a transceiver configured to estimate a position of the vehicle900with respect to the Earth. The GPS926may take other forms as well.

The IMU928may be any combination of sensors configured to sense position and orientation changes of the vehicle900based on inertial acceleration. In some embodiments, the combination of sensors may include, for example, accelerometers and gyroscopes. Other combinations of sensors are possible as well.

The RADAR unit930may be any sensor configured to sense objects in the environment in which the vehicle900is located using radio signals. In some embodiments, in addition to sensing the objects, the RADAR unit930may additionally be configured to sense the speed and/or heading of the objects.

Similarly, the laser range finder or LIDAR unit932may be any sensor configured to sense objects in the environment in which the vehicle900is located using lasers. In particular, the laser rangefinder or LIDAR unit932may include a laser source and/or laser scanner configured to emit a laser and a detector configured to detect reflections of the laser. The laser rangefinder or LIDAR932may be configured to operate in a coherent (e.g., using heterodyne detection) or an incoherent detection mode. In some examples, the LIDAR unit932may include multiple LIDARs that each have a unique position and/or configuration suitable for scanning a particular region of an environment around the vehicle900.

The camera934may be any camera (e.g., a still camera, a video camera, etc.) configured to capture images of the environment in which the vehicle900is located. To this end, the camera may take any of the forms described above. The sensor system904may additionally or alternatively include components other than those shown.

The control system906may be configured to control operation of the vehicle900and its components. To this end, the control system906may include a steering unit938, a throttle940, a brake unit942, a sensor fusion algorithm944, a computer vision system946, a navigation or pathing system948, and an obstacle avoidance system950.

The steering unit938may be any combination of mechanisms configured to adjust the heading of vehicle900. The throttle940may be any combination of mechanisms configured to control the operating speed of the engine/motor918and, in turn, the speed of the vehicle900. The brake unit942may be any combination of mechanisms configured to decelerate the vehicle900. For example, the brake unit942may use friction to slow the wheels/tires924. As another example, the brake unit942may convert the kinetic energy of the wheels/tires924to electric current. The brake unit942may take other forms as well.

The sensor fusion algorithm944may be an algorithm (or a computer program product storing an algorithm) configured to accept data from the sensor system904as an input. The data may include, for example, data representing information sensed at the sensors of the sensor system904. The sensor fusion algorithm944may include, for example, a Kalman filter, a Bayesian network, an algorithm configured to perform some of the functions of the methods herein, or any another algorithm. The sensor fusion algorithm944may further be configured to provide various assessments based on the data from the sensor system904, including, for example, evaluations of individual objects and/or features in the environment in which the vehicle100is located, evaluations of particular situations, and/or evaluations of possible impacts based on particular situations. Other assessments are possible as well.

The computer vision system946may be any system configured to process and analyze images captured by the camera934in order to identify objects and/or features in the environment in which the vehicle900is located, including, for example, traffic signals and obstacles. To this end, the computer vision system946may use an object recognition algorithm, a Structure from Motion (SFM) algorithm, video tracking, or other computer vision techniques. In some embodiments, the computer vision system946may additionally be configured to map the environment, track objects, estimate the speed of objects, etc.

The navigation and pathing system948may be any system configured to determine a driving path for the vehicle900. The navigation and pathing system948may additionally be configured to update the driving path dynamically while the vehicle900is in operation. In some embodiments, the navigation and pathing system948may be configured to incorporate data from the sensor fusion algorithm944, the GPS926, the LIDAR unit932, and one or more predetermined maps so as to determine the driving path for vehicle900.

The obstacle avoidance system950may be any system configured to identify, evaluate, and avoid or otherwise negotiate obstacles in the environment in which the vehicle900is located. The control system906may additionally or alternatively include components other than those shown.

Peripherals908may be configured to allow the vehicle900to interact with external sensors, other vehicles, external computing devices, and/or a user. To this end, the peripherals908may include, for example, a wireless communication system952, a touchscreen954, a microphone956, and/or a speaker958.

The wireless communication system952may be any system configured to wirelessly couple to one or more other vehicles, sensors, or other entities, either directly or via a communication network. To this end, the wireless communication system952may include an antenna and a chipset for communicating with the other vehicles, sensors, servers, or other entities either directly or via a communication network. The chipset or wireless communication system952in general may be arranged to communicate according to one or more types of wireless communication (e.g., protocols) such as BLUETOOTH, communication protocols described in IEEE 802.11 (including any IEEE 802.11 revisions), cellular technology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), ZIGBEE, dedicated short range communications (DSRC), and radio frequency identification (RFID) communications, among other possibilities. The wireless communication system952may take other forms as well.

The touchscreen954may be used by a user to input commands to the vehicle900. To this end, the touchscreen954may be configured to sense at least one of a position and a movement of a user's finger via capacitive sensing, resistance sensing, or a surface acoustic wave process, among other possibilities. The touchscreen954may be capable of sensing finger movement in a direction parallel or planar to the touchscreen surface, in a direction normal to the touchscreen surface, or both, and may also be capable of sensing a level of pressure applied to the touchscreen surface. The touchscreen954may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conducting layers. The touchscreen954may take other forms as well.

The microphone956may be configured to receive audio (e.g., a voice command or other audio input) from a user of the vehicle900. Similarly, the speakers958may be configured to output audio to the user of the vehicle900. The peripherals908may additionally or alternatively include components other than those shown.

The computer system910may be configured to transmit data to, receive data from, interact with, and/or control one or more of the propulsion system902, the sensor system904, the control system906, and the peripherals908. To this end, the computer system910may be communicatively linked to one or more of the propulsion system902, the sensor system904, the control system906, and the peripherals908by a system bus, network, and/or other connection mechanism (not shown).

In one example, the computer system910may be configured to control operation of the transmission922to improve fuel efficiency. As another example, the computer system910may be configured to cause the camera934to capture images of the environment. As yet another example, the computer system910may be configured to store and execute instructions corresponding to the sensor fusion algorithm944. As still another example, the computer system910may be configured to store and execute instructions for determining a 3D representation of the environment around the vehicle900using the LIDAR unit932. Other examples are possible as well.

As shown, the computer system910includes the processor912and data storage914. The processor912may comprise one or more general-purpose processors and/or one or more special-purpose processors. To the extent the processor912includes more than one processor, such processors could work separately or in combination. Data storage914, in turn, may comprise one or more volatile and/or one or more non-volatile storage components, such as optical, magnetic, and/or organic storage, and data storage914may be integrated in whole or in part with the processor912.

In some embodiments, data storage914may contain instructions916(e.g., program logic) executable by the processor912to execute various vehicle functions (e.g., methods500-700, etc.). Data storage914may contain additional instructions as well, including instructions to transmit data to, receive data from, interact with, and/or control one or more of the propulsion system902, the sensor system904, the control system906, and/or the peripherals908. The computer system910may additionally or alternatively include components other than those shown.

As shown, the vehicle900further includes a power supply960, which may be configured to provide power to some or all of the components of the vehicle900. To this end, the power supply960may include, for example, a rechargeable lithium-ion or lead-acid battery. In some embodiments, one or more banks of batteries could be configured to provide electrical power. Other power supply materials and configurations are possible as well. In some embodiments, the power supply960and energy source920may be implemented together as one component, as in some all-electric cars.

In some embodiments, the vehicle900may include one or more elements in addition to or instead of those shown. For example, the vehicle900may include one or more additional interfaces and/or power supplies. Other additional components are possible as well. In such embodiments, data storage914may further include instructions executable by the processor912to control and/or communicate with the additional components.

Still further, while each of the components and systems are shown to be integrated in the vehicle900, in some embodiments, one or more components or systems may be removably mounted on or otherwise connected (mechanically or electrically) to the vehicle900using wired or wireless connections. The vehicle900may take other forms as well.

FIG.10depicts a computer readable medium configured according to an example embodiment. In example embodiments, an example system may include one or more processors, one or more forms of memory, one or more input devices/interfaces, one or more output devices/interfaces, and machine readable instructions that when executed by the one or more processors cause the system to carry out the various functions tasks, capabilities, etc., described above.

In some embodiments, the disclosed techniques (e.g., method1100below, etc.) may be implemented by computer program instructions encoded on a computer readable storage media in a machine-readable format, or on other media or articles of manufacture (e.g., instructions916of the vehicle900, etc.).FIG.10is a schematic illustrating a conceptual partial view of an example computer program product that includes a computer program for executing a computer process on a computing device, arranged according to at least some embodiments disclosed herein.

In one embodiment, the example computer program product1000is provided using a signal bearing medium1002. The signal bearing medium1002may include one or more programming instructions1004that, when executed by one or more processors may provide functionality or portions of the functionality described above with respect toFIGS.1-9. In some examples, the signal bearing medium1002may be a non-transitory computer-readable medium1006, such as, but not limited to, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape, memory, etc. In some implementations, the signal bearing medium1002may be a computer recordable medium1008, such as, but not limited to, memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations, the signal bearing medium1002may be a communication medium1010(e.g., a fiber optic cable, a waveguide, a wired communications link, etc.). Thus, for example, the signal bearing medium1002may be conveyed by a wireless form of the communications medium1010.

The one or more programming instructions1004may be, for example, computer executable and/or logic implemented instructions. In some examples, a computing device may be configured to provide various operations, functions, or actions in response to the programming instructions1004conveyed to the computing device by one or more of the computer readable medium1006, the computer recordable medium1008, and/or the communications medium1010.

The computer readable medium1006may also be distributed among multiple data storage elements, which could be remotely located from each other. The computing device that executes some or all of the stored instructions could be an external computer, or a mobile computing platform, such as a smartphone, tablet device, personal computer, wearable device, etc. Alternatively, the computing device that executes some or all of the stored instructions could be remotely located computer system, such as a server.

Method Examples

FIG.11illustrates a method1100, according to an example embodiment. The method1100includes blocks that may be carried out in any order. Furthermore, various blocks may be added to or subtracted from method1100within the intended scope of this disclosure. The method1100may correspond to steps that may be carried out using any or all of the systems illustrated and described in reference toFIGS.1A-1E,2,3A-3B,4A-4B,9, or10.

Block1102includes receiving target information by a controller of a light detection and ranging (LIDAR) device. The target information may be received from another sensing device or based on an expected location of an object or a particular location. In other words, the target information may be indicative at least one of: a type of object, a size of an object, a shape of an object, a distance, a position, or an angle range.

Block1104includes causing a light source of the LIDAR to emit light within a wavelength range, wherein the light source comprises a fiber laser. As discussed above, the light source may be configured to emit light at one or more wavelengths, e.g. 1550 nm.

Block1106includes causing a scanning portion of the LIDAR to direct the emitted light in a reciprocating manner about a first axis. The scanning portion of the LIDAR may include a moveable mirror, a spring, and an actuator. The spring and the actuator may be configured to move the moveable mirror in a back-and-forth motion about the first axis at a resonant frequency. The resonant frequency could be 140 Hz or another frequency.

Block1108includes, in response to receiving the target information, causing a rotational mount coupled to the LIDAR to rotate so as to adjust a pointing direction of the LIDAR. In an example embodiment, the rotational mount is configured to rotate about a second axis. The second axis could be a vertical axis that runs through the roof and floor of the vehicle. Thus, in response to receiving target information about a target at a particular direction of interest, the rotational mount may be configured to rotate the moveable mirror such that the emitted light is directed or steered towards the particular direction of interest.

Block1110includes causing the LIDAR to scan a field-of-view (FOV) of the environment, wherein the FOV extends away from the LIDAR along the pointing direction. Scanning could include controlling one or both of the rotational mount and/or the moveable mirror so as to illuminate the FOV with emitted light and receive the reflected, emitted light at one or more detectors associated with the LIDAR.

Block1112includes determining a three-dimensional (3D) representation of the environment based on data from scanning the FOV. As described above, the LIDAR system may include one or more detectors configured to receive emitted light that has been reflected from objects in the environment around the vehicle. Thus, based on the received light, the LIDAR system may produce a point cloud map that may be indicative of the vehicle's environment. The point cloud map may be used for navigation, object recognition, obstacle avoidance, and/or other functions.

The particular arrangements shown in the Figures should not be viewed as limiting. It should be understood that other embodiments may include more or less of each element shown in a given Figure. Further, some of the illustrated elements may be combined or omitted. Yet further, an illustrative embodiment may include elements that are not illustrated in the Figures.

While various examples and embodiments have been disclosed, other examples and embodiments will be apparent to those skilled in the art. The various disclosed examples and embodiments are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.