Patent ID: 12210121

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.1-8, 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 (e.g., channels), and the Rx path includes one or more Rx input/output ports (e.g., channels). In some implementations, a semiconductor substrate and/or semiconductor package may include the Tx path and/or the Rx path. In some implementations, the semiconductor substrate and/or semiconductor package may include at least one of silicon photonics circuitry, programmable logic controller (PLC), or group 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 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 light source (e.g., laser source)202, 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)224. 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 for transmission via 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).

The LIDAR system200includes one or more transmitters220and one or more receivers222. The transmitter(s)220and/or receiver(s)222can be included in a transceiver230. The transmitter(s)220can provide the transmit beam that it receives from the Tx path into an environment within a given field of view toward an object218. The one or more receivers222can receive a received beam reflected from the object218and provide the received beam to the mixer208of the Rx path. The one or more receivers222may include one or more optical waveguides or antennas. In some arrangements, the one or more transceivers230may 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 TIA214via the one or more ADCs224.

FIG.3depicts a block diagram of a portion of an example transceiver300for a LIDAR system according to some implementations of the present disclosure. The transceiver300can be included in a LIDAR system, such as the LIDAR system200ofFIG.2(e.g., as the transceiver230).

The transceiver300can include a transmitter305(e.g., a Tx path) and a receiver310(e.g., an Rx path). The transmitter305can include or otherwise be in signal communication with a light source (e.g., laser source)302. The light source302can be configured to provide a beam (e.g., a laser beam) to the transmitter305. In some implementations, a local oscillator (LO) signal322may be drawn from the light source302. The LO signal322may be equivalent to the signal from the light source302or may be modulated from the signal from the light source302(e.g., by an LO modulator such as modulator204B ofFIG.2). In some implementations, a splitter can split the beam from light source302into a first portion provided as the LO signal322and a second portion provided to other components of the transceiver300.

The receiver310can include a receiver photonics die325configured to receive a received beam from the environment. The received beam can be provided among a plurality of receive channels314, where each receive channel314captures a portion of a common transmit beam after being reflected by a corresponding point in the environment. In addition to the receive channels314, the receiver photonics die325can include an LO channel326configured to receive the LO signal322from the transmitter305and an alignment channel336for facilitating alignment with the transmitter305.

The light source302can provide the beam to a modulator304(e.g., a phase modulator). The modulator304can be configured to modulate the beam to modify a phase and/or a frequency of the beam. In some embodiments, the modulator304can be a silicon phase modulator. The modulator304can modulate the beam by, for example, using Continuous Wave (CW) modulation or quasi-CW modulation. In some implementations, the modulator304can be disposed on a transmit die or another suitable substrate.

The transceiver300can further include one or more splitters configured to split the beam from the light source302among one or more channels312,324, and334. For instance, a splitter308(e.g., an optical splitter) can split the beam from the light source302among a plurality of transmit channels312that each carry a portion of the beam from the light source302. For instance, each transmit channel312may correspond to respective transmit output (e.g., Tx0, Tx1, etc.). Each transmit channel312can provide a portion of the beam to a respective portion of the environment of a LIDAR system such that the LIDAR system can scan multiple proximate points simultaneously. In addition to the transmit channels312, a LO channel324can provide the LO signal322to the receiver photonics die325as the LO channel326.

Furthermore, a splitter306can split an alignment signal332from the beam from the light source. The splitter306can be, for example, a 1×2 optical splitter. The alignment signal332can be provided to an alignment channel334. When the transmitter305and the receiver310are properly aligned, the alignment signal332can successfully pass from the alignment channel334of the transmitter305to the alignment channel336of the receiver310. In this manner, the alignment channels334and336can be used to evaluate proper alignment of the transceiver300.

The transceiver300can include one or more amplifiers configured to receive the beam from the light source302and amplify the beam. The amplifiers may be, for example, semiconductor optical amplifiers (SOAs). For instance, the transceiver300can include a transmit die315which includes the one or more amplifiers (e.g., SOAs). In some embodiments, the amplifiers may be disposed in each of the transmit channels312. Furthermore, in some embodiments, amplifiers may not be disposed in the alignment channel334and/or the LO channel324. In this manner, the LO channel324can pass the LO signal322to the receiver photonics die325without being amplified by the plurality of SOAs. The transmit die315may or may not include other components of the transmitter305or transmit path, such as, for example, the light source302, the modulator304, or the splitters306,308.

According to example aspects of the present disclosure, the beam can pass from the transmit die315to the receiver photonics die325without entering a narrow waveguide. In particular, the transceiver300can include a photonics interface320configured to interface the beam between the transmit die315and the receiver photonics die325by emitting the beam into free space and receiving the beam reflected from the free space. Example configurations of the photonics interface320are described in greater detail with respect toFIGS.4-7B.

FIG.4depicts a perspective view of a portion of an example transceiver400for a LIDAR system according to some implementations of the present disclosure. The transceiver400can include a transmit die410having a plurality of channels412. The transmit die410can be configured to receive a transmit beam from a light source (not illustrated) that is configured to output the transmit beam. The transmit beam may be split among the plurality of channels412. The transceiver400can additionally include a modulator configured to receive the transmit beam from the light source and modify at least one of phase or frequency of the transmit beam. Additionally or alternatively, the transceiver400can include one or more amplifiers configured to receive the transmit beam from the light source and amplify the transmit beam. The amplifiers may be disposed subsequent to the modulators in relation to the direction of travel of the transmit beam. As an example, in some implementations, the amplifiers may be respective to the channels412of the transmit die410. The transmit die410may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

The light source can be configured to output the transmit beam at a first orientation. For instance, the first orientation may be generally coplanar with the transmit die410and/or the plurality of channels412. The first orientation may be, for example, an angular orientation generally describing direction of movement of photons in the transmit beam. The first orientation may be described with respect to any suitable consistent reference.

The transceiver400can further include a reflective surface432configured to redirect the transmit beam from the first orientation to a second orientation. For instance, the beam may be provided from the transmit die410such that the beam is incident on the reflective surface432. The reflective surface432may then redirect photons incident on the reflective surface432from the first orientation to the second orientation. In some implementations, the second orientation is normal or substantially normal (e.g., within about 10 degrees of normal) to the first orientation. As one example, the second orientation may be normal to or substantially normal to a plane generally coplanar with the transmit die410. The LIDAR system can emit the transmit beam at the second orientation into an environment of the LIDAR system. For instance, the second orientation may be generally directed away from the LIDAR system and/or the AV. The second orientation may be directed in a direction associated with optics or other gap in a housing of the LIDAR system.

In some implementations, the reflective surface432can be a flat surface (or planar surface). For instance, the portion of the reflective surface432upon which the beam is incident may be substantially flat or planar. As one example, a plane may be generally fit to the reflective surface432or a portion of the reflective surface432upon which the beam is incident. As another example, the reflective surface432may have a depth, where the depth of the reflective surface432is negligible. Additionally or alternatively, in some implementations, the reflective surface432can be a concave surface. For instance, the reflective surface432can define a curvature across a surface of the substrate430on which the reflective surface432is arranged. The reflective surface432can have a center of curvature or focal point arranged such that the beam is reflected at a substantially orthogonal angle.

To provide the transmit beam to the reflective surface432, the transceiver400can include a lens interface420. The lens interface420can be configured to receive the transmit beam at the first orientation and focus the transmit beam onto the reflective surface432. For instance, the lens interface420can include one or more lenses that are aligned with the plurality of channels412. As one example, a centroid of the lenses in the lens interface420may be substantially co-located with the central axes of the channels412. In some implementations, the lens interface420can include at least one first lens422configured to collimate the transmit beam to produce a collimated beam. The at least one first lens422can be a plurality of first lenses422respectively associated with the channels412. The lens interface420can further include at least one second lens424configured to focus the collimated beam at a focal point on the reflective surface432. For instance, the at least one second lens424can be a plurality of second lenses424respectively associated with the channels412. Collimating and focusing the beam respective to the channels412can provide for reduced divergence in the transmit beam(s) and improved detection fidelity.

The transceiver400can further include a receiver photonics die440. The receiver photonics die440can be configured to receive a received beam (e.g., respective to the plurality of channels412) from the environment. To provide for tightly controlled correlation between the transmit beam and the received beam, the receiver photonics die440can be disposed above the reflective surface432such that the transmit beam passes through the receiver photonics die440after being reflected by the reflective surface432. For instance, the receiver photonics die440can include a transmit portion442through which the transmit beam passes after being reflected by the reflective surface432. As used herein, “above” is intended to be defined relative to the direction traveled by the beam in the second orientation. For instance, the receiver photonics die440may be disposed above the reflective surface432if the transmit beam passes through the receiver photonics die440after being reflected by the reflective surface432, even if the receiver photonics die440is not above the reflective surface432relative to earth gravity or another contrasting reference.

In some implementations, the reflective surface432may be disposed on a substrate430. The substrate430may be separate from the transmit die410and/or the receiver photonics die440. The reflective surface432may be formed by a reflective coating on the substrate430. As one example, the reflective coating may be a metal coating. The substrate430may be generally parallel to the receiver photonics die440. Furthermore, the reflective surface432may be formed on an angled edge of the substrate. For instance, a plane that is coplanar to the reflective surface432may be neither parallel nor orthogonal to planes defining the transmit die410, the receiver photonics die440, or the substrate430.

FIG.5Adepicts a side view of a portion of an example transceiver500for a LIDAR system according to some implementations of the present disclosure. The transceiver500can include a light source502. The light source502can be configured to provide a transmit beam505(e.g., a laser beam) to downstream components of the transceiver500.

For instance, the light source502can provide the transmit beam505to a modulator504(e.g., a phase modulator). The modulator504can be configured to modulate the transmit beam505to modify a phase and/or a frequency of the transmit beam505. In some embodiments, the modulator504can be a silicon phase modulator. The modulator504can modulate the transmit beam505by, for example, using Continuous Wave (CW) modulation or quasi-CW modulation. In some implementations, the modulator504can be disposed on a transmit die or another suitable substrate. The transceiver500can include one or more amplifiers506configured to receive the transmit beam505from the light source502or the modulator504and amplify the transmit beam505. The amplifier(s)506may be, for example, semiconductor optical amplifiers (SOAs). As one example, the transceiver500may include a plurality of amplifiers506respective to a plurality of channels.

The transceiver500can further include a lens interface508. The lens interface508can be configured to focus the transmit beam505from the amplifier(s)506onto a reflective surface512. The reflective surface512may be a coating (e.g., a metal coating) on a substrate515. For instance, the transmit beam505may be provided by the lens interface508such that the transmit beam505is incident on the reflective surface512. The reflective surface512may then redirect photons incident on the reflective surface512from the first orientation to the second orientation. In some implementations, the second orientation is normal or substantially normal (e.g., within about 10 degrees of normal) to the first orientation. As one example, the second orientation may be normal to or substantially normal to a plane generally coplanar with a die including the amplifier(s)506. The LIDAR system can emit the transmit beam505at the second orientation into an environment of the LIDAR system. For instance, the second orientation may be generally directed away from the LIDAR system and/or the AV. The second orientation may be directed in a direction associated with optics or other gap in a housing of the LIDAR system.

The reflective surface512can be a flat surface (or planar surface). For instance, the portion of the reflective surface512upon which the transmit beam505is incident may be substantially flat or planar. As one example, a plane may be generally fit to the reflective surface512or a portion of the reflective surface512upon which the transmit beam505is incident. As another example, the reflective surface512may have a depth, where the depth of the reflective surface512is negligible.

The lens interface508can include one or more lenses509. For instance, in some implementations, the lens interface508can include at least a first lens configured to collimate the transmit beam505to produce a collimated beam and a second lens configured to focus the collimated beam at a focal point on the reflective surface512. The transceiver500can further include a half-wave plate (HWP)510configured to shift a polarization direction of the transmit beam505. The HWP510can be constructed out of a birefringent material (e.g., quartz, mica, or plastic), for which the index of refraction is different for light linearly polarized along one or the other of two perpendicular crystal axes. The HWP510can provide for improved capability of isolating light emitted by the LIDAR system from other light in the environment.

The transceiver500can further include a receiver photonics die520. The receiver photonics die520can be configured to receive a received beam525(e.g., respective to a plurality of channels) from the environment. To provide for tightly controlled correlation between the transmit beam505and the received beam525, the receiver photonics die520can be disposed above the reflective surface512such that the transmit beam505passes through the receiver photonics die520after being reflected by the reflective surface512. For instance, the receiver photonics die520can include a transmit portion522through which the transmit beam505passes after being reflected by the reflective surface512. As used herein, “above” is intended to be defined relative to the direction traveled by the transmit beam505in the second orientation. For instance, the receiver photonics die520may be disposed above the reflective surface512if the transmit beam505passes through the receiver photonics die520after being reflected by the reflective surface512, even if the receiver photonics die520is not above the reflective surface512relative to earth gravity or another contrasting reference.

In addition, the receiver photonics die520can include a receiving portion524offset from the transmit portion522. The receiving portion524can be configured to receive the received beam525from the environment of the LIDAR system and provide the received beam525to at least one photonics component on the receiver photonics die520and/or downstream components of the LIDAR system (e.g., a mixer or signal processing photonics). For instance, the receiving portion524may not be transparent to the received beam525. As one example, the receiving portion524may be formed by a waveguide or other light-steering component. As another example, the interface between the substrate515and the receiver photonics die520may not be transparent to the received beam525.

FIG.5Bdepicts a side view of a portion of an example transceiver550for a LIDAR system according to some implementations of the present disclosure. The transceiver550includes various components discussed with reference toFIG.5A, which are denoted with like reference numbers. Unless otherwise indicated, aspects discussed with reference toFIG.5Aare equally intended to apply to the embodiment depicted inFIG.5B.

The transceiver550ofFIG.5Bcan include a reflective surface552. The reflective surface552ofFIG.5Bcan be similar to the reflective surface512ofFIG.5A. Unlike the reflective surface512ofFIG.5A, the reflective surface552can be a concave surface. For instance, the reflective surface552can define a curvature across a surface of the substrate515. The reflective surface552can have a center of curvature or focal point arranged such that the transmit beam505is reflected at a substantially orthogonal angle.

FIG.6depicts a perspective view of a portion of an example transceiver600for a LIDAR system according to some implementations of the present disclosure. The transceiver600can include a transmit die610having a plurality of channels612. The transmit die610can be configured to receive a transmit beam from a light source (not illustrated) that is configured to output the transmit beam. The transmit beam may be split among the plurality of channels612. The transceiver600can additionally include a modulator configured to receive the transmit beam from the light source and modify at least one of phase or frequency of the transmit beam. Additionally or alternatively, the transceiver600can include one or more amplifiers configured to receive the transmit beam from the light source and amplify the transmit beam. The amplifiers may be disposed subsequent to the modulators in relation to the direction of travel of the transmit beam. As an example, in some implementations, the amplifiers may be respective to the channels612of the transmit die610. The transmit die610may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

The light source can be configured to output the transmit beam at a first orientation. For instance, the first orientation may be generally coplanar with the transmit die610and/or the plurality of channels612. The first orientation may be, for example, an angular orientation generally describing direction of movement of photons in the transmit beam. The first orientation may be described with respect to any suitable consistent reference.

The transceiver600can further include a reflective surface632configured to redirect the transmit beam from the first orientation to a second orientation. For instance, the beam may be provided from the transmit die610such that the beam is incident on the reflective surface632. The reflective surface632may then redirect photons incident on the reflective surface632from the first orientation to the second orientation. In some implementations, the second orientation is normal or substantially normal (e.g., within about 10 degrees of normal) to the first orientation. As one example, the second orientation may be normal to or substantially normal to a plane generally coplanar with the transmit die610. The LIDAR system can emit the transmit beam at the second orientation into an environment of the LIDAR system. For instance, the second orientation may be generally directed away from the LIDAR system and/or the AV. The second orientation may be directed in a direction associated with optics or other gap in a housing of the LIDAR system.

In some implementations, the reflective surface632can be a flat surface (or planar surface). For instance, the portion of the reflective surface632upon which the beam is incident may be substantially flat or planar. As one example, a plane may be generally fit to the reflective surface632or a portion of the reflective surface632upon which the beam is incident. As another example, the reflective surface632may have a depth, where the depth of the reflective surface632is negligible. Additionally or alternatively, in some implementations, the reflective surface632can be a concave surface. For instance, the reflective surface632can define a curvature across a surface of the substrate630. The reflective surface632can have a center of curvature or focal point arranged such that the beam is reflected at a substantially orthogonal angle.

To provide the transmit beam to the reflective surface632, the transceiver600can include a lens interface620. The lens interface620can be configured to receive the transmit beam at the first orientation and focus the transmit beam onto the reflective surface632. For instance, the lens interface620can include one or more lenses622that are aligned with the plurality of channels612. As one example, a centroid of the lenses622in the lens interface620may be substantially co-located with the central axes of the channels612.

The transceiver600can further include a receiver photonics die640. The receiver photonics die640can be configured to receive a received beam (e.g., respective to the plurality of channels612) from the environment. To provide for tightly controlled correlation between the transmit beam and the received beam, the receiver photonics die640can be disposed above the reflective surface632such that the transmit beam passes through the receiver photonics die640after being reflected by the reflective surface632. For instance, the receiver photonics die640can include a transmit portion662through which the transmit beam passes after being reflected by the reflective surface632. As used herein, “above” is intended to be defined relative to the direction traveled by the beam in the second orientation. For instance, the receiver photonics die640may be disposed above the reflective surface632if the transmit beam passes through the receiver photonics die640after being reflected by the reflective surface632, even if the photonics die640is not above the reflective surface632relative to earth gravity or another contrasting reference.

In addition, the receiver photonics die640can include a receiving portion664offset from a transmit portion662. The receiving portion664can be configured to receive the received beam from the environment of the LIDAR system and provide the received beam to at least one photonics component on the receiver photonics die640and/or downstream components of the LIDAR system (e.g., a mixer or signal processing photonics). For instance, the receiving portion664may not be transparent to the received beam. As one example, the receiving portion664may be formed by a waveguide or other light-steering component.

In some implementations, the reflective surface632may be disposed on a substrate630. The substrate630may be separate from the transmit die610and/or the receiver photonics die640. The reflective surface632may be formed by a reflective coating on the substrate630. As one example, the reflective coating may be a metal coating. The substrate630may be generally parallel to the receiver photonics die640. Furthermore, the reflective surface632may be formed on an angled edge of the substrate. For instance, a plane that is coplanar to the reflective surface632may be neither parallel nor orthogonal to planes defining the transmit die610, the receiver photonics die640, or the substrate630.

The substrate630and the receiver photonics die640can each include one or more alignment guides635indicating an alignment between the substrate630and the receiver photonics die640. For instance, the alignment guides635can be a common or correlated pattern between the substrate630and the receiver photonics die640. The alignment guides635can therefore be measured during manufacturing to indicate when the substrate630and the receiver photonics die640are properly aligned. As one example, the alignment guides635may be formed by photolithography or other high-precision process such that the alignment guides635can provide a level of precision that satisfies strict constraints associated with the present LIDAR systems.

FIG.7Adepicts a top view of a portion of an example transceiver700for a LIDAR system according to some implementations of the present disclosure. Furthermore,FIG.7Bdepicts a side view of a portion of the example transceiver700ofFIG.7Aaccording to some implementations of the present disclosure.

The transceiver700can include a transmit die710having a plurality of channels715, including one or more transmit channels712, an alignment channel714, and an LO channel716. The transmit die710can be configured to receive a transmit beam762from a light source (not illustrated) that is configured to output the transmit beam762. The transmit beam762may be split among the plurality of channels715. The transceiver700can additionally include a modulator configured to receive the transmit beam762from the light source and modify at least one of phase or frequency of the transmit beam762. Additionally or alternatively, the transceiver700can include one or more amplifiers configured to receive the transmit beam762from the light source and amplify the transmit beam762. The amplifiers may be disposed subsequent to the modulators in relation to the direction of travel of the transmit beam762. As an example, in some implementations, the amplifiers may be respective to the transmit channels712of the transmit die710. The transmit die710may be composed of any suitable material, such as, for example, a group III-V semiconductor material.

The light source can be configured to output the transmit beam762at a first orientation. For instance, the first orientation may be generally coplanar with the transmit die710and/or the plurality of channels715. The first orientation may be, for example, an angular orientation generally describing direction of movement of photons in the transmit beam762. The first orientation may be described with respect to any suitable consistent reference.

The transceiver700can further include a first reflective surface732configured to redirect the transmit beam762from the first orientation to a second orientation. For instance, the beam may be provided from the transmit die710such that the beam is incident on the first reflective surface732. The first reflective surface732may then redirect photons incident on the first reflective surface732from the first orientation to the second orientation. In some implementations, the second orientation is normal or substantially normal (e.g., within about 10 degrees of normal) to the first orientation. As one example, the second orientation may be normal to or substantially normal to a plane generally coplanar with the transmit die710. The LIDAR system can emit the transmit beam762at the second orientation into an environment of the LIDAR system. For instance, the second orientation may be generally directed away from the LIDAR system and/or the AV. The second orientation may be directed in a direction associated with optics or other gap in a housing of the LIDAR system.

To provide the transmit beam762to the first reflective surface732, the transceiver700can include a first lens interface720. The first lens interface720can be configured to receive the transmit beam762at the first orientation and focus the transmit beam762onto the first reflective surface732. For instance, the first lens interface720can include one or more lenses that are aligned with the plurality of channels715. As one example, a centroid of the lenses in the first lens interface720may be substantially co-located with the central axes of the channels715. In some implementations, the first lens interface720can include at least one first lens722configured to collimate the transmit beam762to produce a collimated beam. The at least one first lens722can be a plurality of first lenses722respectively associated with the channels715. The first lens interface720can further include a half-wave plate (HWP)724configured to shift a polarization direction of the transmit beam762. The HWP724can be constructed out of a birefringent material (e.g., quartz, mica, or plastic), for which the index of refraction is different for light linearly polarized along one or the other of two perpendicular crystal axes. The HWP724can provide for improved capability of isolating light emitted by the LIDAR system from other light in the environment. The first lens interface720can additionally include at least one second lens726configured to focus the collimated beam at a focal point on the reflective surface732. For instance, the at least one second lens726can be a plurality of second lenses726respectively associated with the channels715. Collimating and focusing the beam respective to the channels715can provide for reduced divergence in the transmit beam762(s) and improved detection fidelity.

The transceiver700can further include a receiver photonics die750. The receiver photonics die750can be configured to receive a received beam764(e.g., respective to the plurality of channels715) from the environment. To provide for tightly controlled correlation between the transmit beam762and the received beam764, the receiver photonics die750can be substantially coplanar with the transmit die710. Furthermore, to pass the beam from the transmit die710to the receiver photonics die750, the transceiver700can pass the signal from the alignment channel714and LO channel716of the transmit die710to corresponding alignment channel754and LO channel756of the receiver photonics die750(e.g., without being reflected by the first reflective surface732).

Additionally, the transceiver700can further include a second reflective surface734configured to receive a received beam764from the environment of the LIDAR system and provide the received beam764among a plurality of receive channels752. The received beam764can be received at the second orientation and redirected by the second reflective surface734from the second orientation to the first orientation. The transceiver700can additionally include a second lens interface740configured to focus the received beam764into the receiver photonics die750. In some implementations, the second lens interface740can include at least one first lens742configured to collimate the transmit beam762to produce a collimated beam. The at least one first lens742can be a plurality of first lenses742respectively associated with channels755of the receiver photonics die750. The second lens interface740can further include at least one second lens744configured to focus the collimated beam at a focal point on the reflective surface432. For instance, the at least one second lens744can be a plurality of second lenses744respectively associated with the channels755. Collimating and focusing the beam respective to the channels755can provide for reduced divergence in the transmit beam762(s) and improved detection fidelity.

For instance, the portion of the beam from the transmit channels712can be focused by the first lens interface720onto the first reflective surface732, emitted into free space, reflected off of objects in the free space such that the beam is incident on the second reflective surface734, reflected off the second reflective surface734into the second lens interface740, and focused by the second lens interface740into the plurality of receive channels752. In this manner, the beam may entirely pass from the channels715of the transmit die710to corresponding channels755of the receiver photonics die750without incurring conventional loss associated with small waveguides.

In some implementations, the first reflective surface732and the second reflective surface734may be disposed on a common substrate730. The substrate730may be separate from the transmit die710and/or the receiver photonics die750. The reflective surfaces732,734may be formed by a reflective coating on the substrate730. As one example, the reflective coating may be a metal coating.

The reflective surface(s)732,734can respectively be a flat surface (or planar surface). For instance, a portion of the reflective surface(s)732,734upon which the transmit beam762or received beam764, respectively, are incident may be substantially flat or planar. As one example, a plane may be generally fit to the reflective surface(s)732,734. As another example, the reflective surface(s)732,734may have a depth, where the depth of the reflective surface(s)732,734is negligible.

FIG.8depicts a side view of a portion of an example transceiver800for a LIDAR system according to some implementations of the present disclosure. The transceiver800includes various components similar to those discussed with reference toFIGS.7A-7B, which are denoted with like reference numbers. Unless otherwise indicated, aspects discussed with reference toFIGS.7A-7Bare equally intended to apply to the embodiment depicted inFIG.8.

The transceiver800includes a substrate830having a first reflective surface832and a second reflective surface834. As discussed with reference toFIG.7, the reflective surface(s)834may be, respectively, arranged to emit a transmit beam762into free space and receive a reflected beam764reflected off of objects in free space. A LIDAR system may infer information about these objects in free space based on characteristics of the reflected beam764. The reflective surface(s)832,834can respectively be a concave surface. For instance, the reflective surface(s)832,834can respectively define a curvature across a surface of the substrate830. The reflective surface(s)832,834can have a center of curvature or focal point arranged such that the transmit beam762or the received beam764, respectively, are reflected at a substantially orthogonal angle.

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.