RU2778383C2 - Lidar systems and detection methods - Google Patents

Abstract

FIELD: detection systems.

SUBSTANCE: present technology relates to light detection and ranging (LiDAR) systems and to methods for the detection of objects in the field of observation. Lidar systems and methods for the detection of objects in the field of observation of an autonomous vehicle contain: a radiating component capable of radiating output beams; a scanning component capable of directing output beams to the observation field; a receiving component capable of receiving input beams reflected from objects in the observation field along an inner detection path; a shut-in component made with the possibility of switching between closed and open positions, while the inner detection channel is at least partially blocked, when the shut-in component is in the closed position, and is opened, when the shut-in component is in the open position; a control component connected to the shut-in component in such a way that the shut-in component is in the closed position, when the radiating components radiates output beams, and is in the open position, when receiving input beams, which are the reflection of output beams from the observation field.

EFFECT: reduction in the self-reflection effect in lidar systems, increase in the accuracy of detection of objects in close proximity to a self-driving vehicle, increase in the safety of vehicle operation.

20 cl, 11 dwg

Description

The technical field to which the invention belongs

[001] The present technology relates to laser detection and ranging systems (LiDAR, Light Detection and Ranging) and methods for detecting objects in the field of view.

State of the art

[002] In the known solutions proposed and implemented computer navigation systems that facilitate navigation and/or control of vehicles. Various systems of this kind are known, ranging from simple map-based location solutions using a computer system to assist the driver in navigating a route from origin to destination, to more complex solutions such as computerized and/or autonomous driving systems.

[003] Some of these systems are implemented as well-known cruise control systems. In this case, the computer system installed on the vehicle maintains the vehicle speed set by the user. Some cruise control systems implement an intelligent distance control system, allowing the user to set the distance to the vehicle in front (for example, select a value expressed in terms of the number of vehicles). The computer system then controls the speed of the vehicle, at least in part, depending on its approach to the vehicle in front at a predetermined distance. Some of the cruise control systems are additionally equipped with a collision avoidance system that, when a vehicle (or other obstacle) is detected in front of a moving vehicle, slows or stops it.

[004] Some of the most advanced systems provide fully autonomous movement of the vehicle without the direct participation of the operator (ie driver) in control. Such autonomous vehicles contain systems capable of accelerating, decelerating, stopping, changing lanes, and self-parking the vehicle.

[005] One of the main technical problems encountered in the implementation of the above systems is the ability to detect objects around the vehicle. For example, these systems may need to be able to detect another vehicle ahead of the system-installed vehicle that could pose a risk to that vehicle and require the system to take proactive action, such as braking or otherwise changing speed, stopping, or changing lanes.

[006] Lidar-based object detection typically includes transmitting light rays into a region of interest and detecting reflected light rays, in particular from objects in the region, to form an image of the region of interest containing any objects. Lasers are often used as a source of radiation (light), emitting light pulses in a narrow wavelength range. The object's coordinates and distance can be determined, among other things, by calculating the time of flight of the emitted and detected light beam. By calculating such coordinates as "data points", it is possible to form a multidimensional digital image of the surrounding space.

[007] In general, from the point of view of the physics of object detection by lidar systems, one currently known method is based on the use of pulsed radiation and is implemented by "time of flight" (ToF, Time of Flight) lidar systems. In ToF lidar systems, each lidar sensor emits a short pulse of a given wavelength and then records the time it takes for that pulse to be reflected by an object in the surrounding space and return to the corresponding lidar sensor. 360-degree rotation of the ToF lidar system, located on top of the vehicle and containing a plurality of lidar sensors, makes it possible to form a three-dimensional image of the space around the vehicle.

[008] This three-dimensional image is partly formed by the reflected rays received by the lidar, which generates data points representing objects in the surrounding space. These points form clouds that characterize the surrounding space and form a three-dimensional map. Each point in this point cloud is associated with coordinates in coordinate space. In addition, each point can be associated with some additional information, such as the distance from the self-driving vehicle to the object. Other information can be associated with points in a point cloud.

[009] The more points of acceptable quality obtained, the better. In this case, the computer of a self-driving vehicle using such a point cloud can perform tasks of various cognitive complexity, for example, filtering, clustering or sampling points, merging point clouds, object recognition, etc. The quality of these individual tasks affects the overall quality of the positioning and navigation of an unmanned vehicle. Accurate information about surrounding objects improves driving safety.

[010] In this case, in certain circumstances, for example, when objects are located in close proximity to a self-driving vehicle, detection with sufficient accuracy may be difficult.

[011] Therefore, systems and methods are required to eliminate, reduce or overcome the limitations of known technical solutions.

[012] To solve the above problem, a number of methods have been proposed in known technical solutions.

[013] Patent application US20200103510A1 (Waymo LLC, published 04/02/2020) “ Light Detection and Ranging (LIDAR) Device with an Off-Axis Receiver ”, describes a lidar device with light sources emitting light and with a transmitting lens directing the emitted light to illuminate a region of the surrounding space with a field of view defined by the transmitting lens. The lidar device also includes a receiving lens that focuses at least a portion of incoming light propagating from an illuminated area of the surrounding space along a predetermined optical path. This lidar device also includes a number of light receivers arranged along a predetermined optical path. The lidar device also includes an offset light receiver located outside of a predetermined optical path. The lidar device also includes a controller that determines whether the accumulated sensor data of the number of light receivers includes data associated with a different light source than the light source of the device, based on the output of the biased light receiver.

[014] Patent application US20180074198A1 (Qualcomm Inc, published 03/15/2018) “ Optical beam identification using optical demodulation ” describes methods for identifying optical beams incident on a sensor of a laser detection and measurement system. range (lidar). In some aspects, a sensor associated with the lidar system receives a first optical beam containing a first frequency and a second optical beam containing a second frequency. The lidar system may include a shutter associated with the sensor and configured to operate at a third frequency, wherein the shutter control upon receipt of the first optical beam containing the first frequency leads to the formation of the first signal with the fourth frequency, and the gate control upon receipt of the second optical beam, containing the second frequency, leads to the formation of the second signal with the fifth frequency. In addition, processing logic may be applied to the lidar system to detect the first signal at the fourth frequency and identify the first optical beam using the known relationship between the first optical beam and the fourth frequency.

Disclosure of invention

[015] In contrast to the approaches used in known technical solutions, the developers of the present technology have found that the quality of detection of objects around a self-driving vehicle may depend on the physical characteristics of the optical components in the lidar system. Lenses and other optical components can reflect the emitted light beam back inside the lidar system, causing a self-reflection effect inside the system. Self-reflection can have a greater effect on the detection of nearby objects than on the detection of more distant objects. Light reflected from nearby objects reaches the detection unit very quickly, so the signal of the light beam reflected from objects in the surrounding space can be “intercepted” by the light beam reflected from the internal optical components of the lidar system.

[016] Accordingly, the developers of the present technology have implemented a method aimed at minimizing, reducing or eliminating self-reflection by selectively prohibiting or allowing access of light to the internal detection channel leading to the receiving component. A gate component is proposed, the control of opening and closing of which, performed synchronously with the emission of the output beam by the emitting component, allows minimizing or reducing the effects of self-reflection in lidar systems and improving the detection of objects in the immediate vicinity of a self-driving vehicle. In some embodiments of the invention, the detection accuracy and repeatability are improved and vehicle operation safety is improved.

[017] In accordance with the first broad aspect of the present technology, a lidar system for detecting objects in the observation area of an autonomous vehicle is implemented, comprising: an emitting component capable of emitting output beams; a scanning component capable of directing output beams into the area of observation; a receiving component capable of receiving input beams reflected from objects in the area of interest along the internal detection path; a shutter component capable of switching between closed and open positions, wherein the internal detection channel is at least partially blocked when the shutter component is in the closed position and opens when the shutter component is in the open position; a control component connected to the gate component in such a way that the gate component is in the closed position when the emitting component emits output beams, and the gate component is in the open position when receiving input beams that reflect the output beams from the field of view.

[018] In some embodiments of the invention, the control component is further capable of switching the gate component from a closed position to an open position when the output beams exit the internal radiation channel of the lidar system.

[019] In some embodiments, the control component is further capable of switching the gate component from a closed position to an open position when the output beams move a predetermined distance from the lidar system.

[020] In some embodiments, the output beams are emitted as a sequence of output beams, wherein the control component is further capable of switching the gate component to a closed position when the emitting component emits all beams in the sequence, and switching the gate component from a closed position to an open position, when each beam in the output beam sequence exits the internal radiation channel of the lidar system.

[021] In some embodiments, the output beams are emitted as an output beam sequence, wherein the control component is further capable of switching the gate component to a closed position when the emitting component emits all of the beams in the sequence, and switching it from a closed position to an open position when each beam in the output beam sequence reaches a predetermined distance from the lidar system.

[022] In some embodiments of the invention, the control component is able to switch the gate component from an open position to a closed position simultaneously with the emission of output beams by the radiating component.

[023] In some embodiments of the invention, the control component is able to switch the gate component from an open position to a closed position after a predetermined time after the emission of output beams by the emitting component.

[024] In some embodiments of the invention, the control component is able to switch the gate component from an open position to a closed position based on a predetermined time interval.

[025] In some embodiments, the closure component comprises a mechanical closure device.

[026] In some embodiments of the invention, the mechanical shutter device includes a rotating disk with a plurality of slots in its body, while the control component is additionally capable of rotating this disk at a frequency of 500 kHz.

[027] In some embodiments, the gate component comprises an electro-optical or semiconductor gate device.

[028] In some embodiments of the invention, the gate component contains translucent components and is able to partially block the internal detection channel.

[029] In some embodiments of the invention, the scanning component comprises a rotating prism and/or a rotating mirror.

[030] In some embodiments of the invention, the receiving component is a photodetector, and the gate component is located in the internal detection channel before the photodetector.

[031] In accordance with another aspect, a method for detecting objects in the field of view of an autonomous vehicle is implemented, performed by a control component of the lidar system connected to the gate component of the lidar system, which is located before the receiving component capable of receiving input beams reflected from objects in the field of view, through the internal channel of discovery. The method includes emitting output beams from an emitting component of the lidar system towards a scanning component capable of directing output beams into the area of observation, controlling the gate component to switch it between a closed position, in which the internal detection channel is at least partially blocked, and an open position, in in which the internal detection channel is open, the gate component is in the closed position when the emitting component emits output beams, and the gate component is in the open position when receiving input beams that are a reflection of the output beams from the field of view.

[032] In some embodiments of the invention, the control component controls the gate component and switches it from the closed position to the open position when the output beams exit the internal radiation channel of the lidar system.

[033] In some embodiments of the invention, the control component controls the gate component and switches it from a closed position to an open position when the output beams move a predetermined distance from the lidar system.

[034] In some embodiments, the output beams are emitted as a sequence of output beams, wherein the control component is able to switch the gate component to a closed position when the emitting component emits all beams in the sequence, and to switch the gate component to the open position when each beam from a sequence of output beams comes out of the internal radiation channel of the lidar system.

[035] In some embodiments of the invention, the output beams are emitted as a sequence of output beams, wherein the control component is able to switch the gate component between closed and open positions to emit a given output beam from the sequence from the internal radiation channel and to emit the next output beam from the radiation source from sequences after a given output beam. In other words, the gate component opens after a given output beam from the sequence leaves the internal radiation channel of the lidar system, and closes when the next (behind the given) output beam from this sequence is emitted by the radiation source. The gate component will then open when the next output beam exits the internal emission channel.

[036] In some embodiments, the output beams are emitted as a series of beams, wherein the control component is capable of switching the gate component to a closed position when the emitting component emits beams from the sequence, and switching it from a closed position to an open position when each beam from beam sequence reaches a given distance from the lidar system.

[037] In some embodiments of the invention, the control component controls the gate component and switches it between an open position in a closed position based on a predetermined time interval.

[038] In some embodiments of the invention, the control component is connected to the radiating component, and the method includes the ability of the control component to provide the emission of output beams by the radiating component. In some embodiments of the invention, the control component controls the gate component and synchronizes the switching between open and closed positions with the emission of output beams by the emitting component.

[039] In some embodiments of the invention, the control component is connected to the receiving component.

[040] In the context of the present description, the term "radiant source" or "emitting component" generally refers to any device capable of emitting, for example, transmitting a signal in the form of a beam. The emitting component contains, among other things, a light source capable of emitting light rays. This light source can be a laser, such as a solid state laser, a laser diode, a high power laser, or an alternative light source, such as a light emitting diode light source. Some (non-limiting) examples of light sources are Fabry-Perot laser diode, quantum well laser, Distributed Bragg Reflector (DBR) laser, Distributed FeedBack (DFB) laser. ), fiber laser or vertical-cavity surface-emitting laser (VCSEL). In addition, the light source may emit light beams in various formats, such as light pulses, continuous oscillations, quasi-continuous oscillations, and so on. In some non-limiting examples, the light source may comprise a laser diode capable of emitting light at a wavelength in the range of approximately 650-1150 nm. Alternatively, the light source may comprise a laser diode capable of emitting light in the wavelength range of about 800-1000 nm, about 850-950 nm, about 1300-1600 nm, or any other suitable range. Unless otherwise indicated, the term "approximately" in relation to a numerical value is defined as a deviation not exceeding 10% of the specified value.

[041] In the context of the present description, the term "output beam" may refer to a beam of radiation, for example, to a beam of light generated by the emitting component and directed towards the field of view. The output beam can be characterized by one or more parameters, such as radiation duration, beam angular divergence, wavelength, instantaneous power, photon density at different distances from the radiation source (light), average power, beam power density, beam width, radiation pulse repetition frequency , the sequence of emitted pulses, pulse duty cycle, wavelength, phase, etc. The output beam may be unpolarized or randomly polarized, may have no defined or permanent polarization (eg, the polarization may change over time), or may have a specific polarization (eg, linear polarization, elliptical polarization, or circular polarization).

[042] In addition, in the context of the present description, the term "output beam" can also refer to a continuous (electromagnetic) wave emitted by a radiation source and having certain characteristics, such as frequency, amplitude, phase and wavelength.

[043] In the context of the present description, the term "input beam" may refer to a radiation beam, for example, a light beam reflected from one or more objects in the region of interest (ROI, Region Of Interest). The term "reflected" means that at least a portion of the output beam is incident on one or more objects in the field of view and is reflected from this one or more objects. The input beam may be characterized by one or more parameters such as time of flight (i.e., time from emission to detection), instantaneous power (i.e., power signature), mean backpulse power, distribution of photons in the signal over the backpulse period, and etc.

[044] In the context of the present description, the term "observation area" may generally include the part of the observed surrounding space of the lidar system in which one or more objects can be detected. It should be noted that the field of view of the lidar system can be affected by various conditions, such as, among other things, the orientation of the lidar system (for example, the direction of the optical axis of the lidar system), the position of the lidar system in the surrounding space (for example, the distance above the ground, as well as the terrain and obstacles in the immediate vicinity of the system), operating parameters of the lidar system (e.g., radiation power, computational settings, target operating angles), etc. The area of observation of the lidar system can be defined, for example, by a flat or solid angle. In one example, the area of interest may also be defined by a range (eg, "up to about 200 m").

[045] As used herein, a "server" is a computer program executing on appropriate hardware that is capable of receiving requests over a network (eg, from electronic devices) and of executing or initiating those requests. The corresponding hardware may be implemented as a single computer or a single computer system, which is not essential to the present technology. In this context, the expression "server" does not mean that every task (for example, a received command or request) or some specific task is received, executed or started by the same server (i.e. the same software and/or hardware ). This expression means that any number of software or hardware can receive, send, execute or start the execution of any task or request, or the results of any tasks or requests. All of these software and hardware may be a single server or multiple servers, both of which are meant by the expression "at least one server".

[046] As used herein, an "electronic device" is any computer hardware capable of executing software suitable for a given task. In the context of the present description, the term "electronic device" implies that the device can function as a server for other electronic devices, however, this is not necessary for the present technology. Thus, some (non-limiting) examples of electronic devices include self-managed devices, personal computers (desktops, laptops, netbooks, etc.), smartphones and tablets, and network equipment such as routers, switches, and gateways. It should be understood that in the present context, the fact that a device functions as an electronic device does not mean that it cannot function as a server for other electronic devices.

[047] In the context of the present description, the expression "information" includes information of any kind or type that can be stored in a database. Thus, information includes visual works (for example, maps), audiovisual works (for example, images, films, sound recordings, presentations, etc.), data (for example, location data, weather data, traffic data, numerical data, etc.), text (such as but not limited to opinions, comments, questions, messages, etc.), documents, spreadsheets, etc.

[048] In the context of the present description, the term "database" means any structured set of data, regardless of its specific structure, database management software or computer hardware for storing this data, using them or providing them with use in another way. The database may reside on the same hardware as the process for storing or using the information stored in the database, or the database may reside on separate hardware such as a dedicated server or multiple servers.

[049] In the context of the present description, the numerals "first", "second", "third", etc. are used only to indicate the difference between the nouns they refer to, but not to describe any specific relationship between these nouns. In addition, as occurs herein in another context, reference to a "first" component and a "second" component does not exclude that the two components may in fact be the same component.

[050] Each embodiment of the present technology relates to at least one of the above objectives and/or aspects, but not necessarily all of them. It should be understood that some aspects of the present technology, associated with an attempt to achieve the above goal, may not meet this goal and/or may meet other goals not explicitly mentioned here.

[051] Additional and/or alternative features, aspects, and advantages of embodiments of the present technology are contained in the following description, in the accompanying drawings, and in the claims.

Brief description of the drawings

[052] These and other features, aspects, and advantages of the present technology are contained in the following description, in the appended claims, and in the following drawings.

[053] In FIG. 1 is a schematic representation of an exemplary computer system for implementing certain non-limiting embodiments of systems and/or methods in accordance with the present technology.

[054] In FIG. 2 depicts a networked computing environment suitable for use with certain non-limiting embodiments of the present technology.

[055] In FIG. 3 is a schematic representation of an exemplary lidar system for implementing some non-limiting embodiments of systems and/or methods in accordance with the present technology.

[056] In FIG. 4 shows the gate component in the example of the lidar system shown in FIG. 3 in accordance with certain non-limiting embodiments of the present technology.

[057] FIG. 5 shows the gate component shown in FIG. 4 and the receiving component of the lidar system shown in FIG. 3 when the closure component is in the open position, in accordance with certain non-limiting embodiments of the present technology.

[058] In FIG. 6 shows the gate component shown in FIG. 4 and the receiving component of the lidar system shown in FIG. 3 when the closure component is in the closed position, in accordance with certain non-limiting embodiments of the present technology.

[059] FIG. 7 shows the light intensity at the input of the receiving component shown in FIG. 5 and FIG. 6 when the closure component is in the open and closed positions, in accordance with certain non-limiting embodiments of the present technology.

[060] In FIG. 8 shows the light intensity at the input of the receiving component shown in FIG. 5 and FIG. 6 when the closure component is in the open and closed positions, in accordance with certain other non-limiting embodiments of the present technology.

[061] In FIG. 9 is a schematic representation of a method for detecting an object located in the space around a vehicle in the networked computing environment shown in FIG. 2 based on data obtained by the lidar system shown in FIG. 3 in accordance with certain non-limiting embodiments of the present technology.

[062] In FIG. 10 shows the timing of the closed and open positions of the closure component shown in FIG. 5 and FIG. 6 in accordance with certain non-limiting embodiments of the present technology.

[063] In FIG. 11 is a schematic representation of an example of the lidar system shown in FIG. 3 and shows an internal emission path and an output beam emerging from the internal emission path, in accordance with some non-limiting embodiments of the present technology.

Implementation of the invention

[064] The examples and conventions presented herein are intended to provide a better understanding of the principles of the present technology, and not to limit its scope to such specifically given examples and conditions. It is obvious that specialists in the art are able to develop various methods and devices that are not explicitly described or shown here, but implement the principles of the present technology within its essence and scope.

[065] In addition, to facilitate a better understanding, the following description may contain simplified implementations of the present technology. Those skilled in the art will appreciate that other embodiments of the present technology may be significantly more complex.

[066] In some cases, useful examples of modifications to the present technology are provided. They contribute to understanding, but also do not define the scope or boundaries of the present technology. The presented list of modifications is not exhaustive and the person skilled in the art can develop other modifications within the scope of this technology. In addition, if modifications are not described in some cases, this does not mean that they are impossible and / or that the description contains the only possible implementation of one or another component of the present technology.

[067] Moreover, the description of the principles, aspects, and embodiments of the present technology, as well as specific examples thereof, is intended to cover their structural and functional equivalents, whether they are currently known or will be developed in the future. For example, those skilled in the art will appreciate that any structural diagrams described correspond to conceptual representations of illustrative circuit diagrams embodying the principles of the present technology. It should also be understood that any flowcharts, process diagrams, state transition diagrams, pseudocodes, and the like. correspond to various processes that may be represented on a computer-readable physical storage medium and may be performed by a computer or processor, whether such a computer or processor is explicitly shown or not.

[068] The functions of the various components shown in the drawings, including any functional unit labeled "processor", may be implemented using dedicated hardware as well as hardware capable of executing the associated software. If a processor is used, these functions may be performed by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared. In addition, explicit use of the term "processor" or "controller" should not be construed as referring solely to the hardware capable of executing the software and may refer to, but is not limited to, digital signal processor (DSP) hardware, network processor, ASIC (ASIC), Field Programmable Gate Array (FPGA), Software ROM, RAM, and NVRAM. Other hardware, general purpose and/or custom, may also be contemplated.

[069] Software modules, or simply modules that are intended to be implemented in software, may be represented here as any combination of flowchart components or other components that indicate process steps and/or contain textual description. Such modules may be implemented in hardware, as shown or implied.

[070] In the following, in light of the foregoing principles, some non-limiting examples are provided to illustrate various embodiments of aspects of the present technology.

computer system

[071] In FIG. 1 is a schematic representation of a computer system 100 suitable for use with some embodiments of the present technology and comprising various hardware components including one or more single or multi-core processors collectively represented by processor 110, a solid state drive 120, and memory 130, which may be RAM. or memory of any other kind.

[072] Communication between components of computer system 100 may be via one or more internal and/or external buses (not shown) (such as a PCI bus, Universal Serial Bus (USB), IEEE 1394 FireWire bus, SCSI bus, Serial- ATA, etc.) to which various hardware components are connected electronically. In accordance with embodiments of the present technology, the solid state drive 120 stores program instructions suitable for loading into memory 130 and execution by processor 110 to determine the presence of an object. For example, software instructions may be included in a vehicle control application executed by processor 110. It should be noted that computer system 100 may include additional and/or optional components (not shown), such as network communication modules, location modules, and etc.

networked computing environment

[073] In FIG. 2 is a schematic representation of a networked computing environment 200 suitable for use with some embodiments of systems and/or methods in accordance with the present technology. The network computing environment 200 includes an electronic device 210 associated with the vehicle 220 and/or a user (not shown) associated with the vehicle 220, in particular the operator of the vehicle 220, a server 235 associated with the electronic device 210 via the network 240 communication (eg, via the Internet, etc., as described in more detail below).

[074] The networked computing environment 200 may also include a GPS satellite (not shown) transmitting a GPS signal to and/or receiving a GPS signal from the electronic device 210. It should be understood that the present technology is not limited to the GPS system and may use a location technology other than the GPS system. It should be noted that the GPS satellite may not be available at all.

[075] The vehicle 220 with which the electronic device 210 is associated can be any vehicle for recreation or other purposes, such as a car for personal or commercial use, a truck, a motorcycle, and so on. Although depicted as a ground vehicle, vehicle 220 may be different in each embodiment of the present technology. For example, vehicle 220 may be a waterborne vehicle, such as a boat, or an aircraft, such as a flying drone.

[076] Vehicle 220 may be driven by a user or be a self-driving vehicle. In at least some embodiments of the present technology, it is contemplated that vehicle 220 may be implemented as a Self-Driving Car (SDC). It should be noted that no restrictions are imposed on specific parameters of the vehicle 200, such as vehicle manufacturer, vehicle model, vehicle year, vehicle weight, vehicle dimensions, vehicle weight distribution, vehicle surface area, vehicle height, transmission type (e.g., two or four wheel drive), tire type, brake system, fuel system, mileage, vehicle identification number, engine displacement, etc.

[077] The implementation of the electronic device 210 is also not subject to any restrictions. For example, the electronic device 210 may be implemented as a vehicle engine control unit, a vehicle central processing unit, a vehicle navigation device (eg, TomTom™, Garmin™), a tablet, a personal computer built into the vehicle 220, etc. . It should be noted that the electronic device 210 may or may not be permanently associated with the vehicle 220. Additionally or alternatively, the electronic device 210 may be implemented as a wireless communication device such as a mobile phone (e.g., smartphone or cordless phone). In some embodiments, the electronic device 210 includes a display 270.

[078] Electronic device 210 may include some or all of the components of computer system 100 shown in FIG. 1. In some embodiments, the electronic device 210 is an on-board computer device and includes a processor 110, a solid state drive 120, and a memory 130. In other words, the electronic device 210 includes hardware and/or software and/or firmware, or a combination thereof, to performing data processing, as described in more detail below.

[079] In some embodiments of the present technology, communication network 240 is the Internet. In alternative non-limiting embodiments of the invention, communications network 240 may be implemented as any suitable local area network (LAN, Local Area Network), wide area network (WAN, Wide Area Network), private communications network, and the like. Obviously, the embodiments of the communications network 240 are for illustrative purposes only. Between the electronic device 210 and the communication network 240, a communication link (not specifically indicated) is provided, the implementation of which depends, among other things, on the implementation of the electronic device 210. By way of non-limiting example only, in those embodiments of the present technology where the electronic device 210 is implemented as a wireless communication device such as a smartphone or navigation device, the communication link may be implemented as a wireless communication link. Examples of wireless links include a 3G network link, a 4G network link, and the like. Communication network 240 may also use a wireless connection to server 235.

[080] In some embodiments of the present technology, the server 235 is implemented as a computer server and may contain some or all of the components of the computer system 100 shown in FIG. 1. In one non-limiting example, server 235 is implemented as a Dell™ PowerEdge™ server running the Microsoft™ Windows Server™ operating system, but it may also be implemented using any other suitable hardware, software, and/or firmware or a combination thereof. In the present non-limiting embodiments of the present technology, the server 215 is a single server. In other non-limiting embodiments of the present technology (not shown), the functions of the server 235 may be distributed among multiple servers.

[081] In some non-limiting embodiments of the present technology, the processor 110 of the electronic device 210 may be associated with the server 235 to receive one or more updates. The updates may be software updates, map updates, route updates, weather data updates, and the like. In some embodiments of the present technology, processor 110 may also send some operational data to server 235, such as routes travelled, traffic data, performance data, and the like. Some or all of the data transmitted between vehicle 220 and server 235 may be encrypted and/or anonymized.

[082] It should be noted that the electronic device 210 may use a variety of sensors and systems to collect information about the environment 250 of the vehicle 220. As shown in FIG. 2, vehicle 220 may be equipped with a plurality of sensor systems 280. It should be noted that various sensor systems from the plurality of sensor systems 280 may be used to collect various types of data about the environment 250 of the vehicle 220.

[083] In one example, the plurality of sensor systems 280 may include one or more camera sensor systems mounted on vehicle 220 and connected to processor 110. In general, one or more camera sensor systems may collect image data about various parts of the environment 250 of the vehicle 220. In some cases, image data provided by one or more camera-type sensor systems may be used by the electronic device 210 to perform object detection procedures. For example, electronic device 210 may transmit image data provided by one or more camera-type sensor systems to an Object Detection Neural Network (ODNN) trained to locate and classify potential objects in the environment 250 of vehicle 220.

[084] In another example, the plurality of sensor systems 280 may include one or more radar sensor systems mounted on vehicle 220 and coupled to processor 110. In general, one or more radar sensor systems may use radio waves to collect data about various parts of the environment 250 of the vehicle 220. For example, one or more radar sensor systems may collect radar data about potential objects in the environment 250 of the vehicle 220 and such data may be representative of distance from the radar sensor system. » to objects, orientation of objects, speed of objects, etc.

[085] It should be noted that the plurality of sensor systems 280 may include other types of sensor systems in addition to the examples described above, within the scope of the present technology.

[086] In addition, vehicle 220 is equipped with one or more laser detection and ranging systems (lidars) to collect information about the environment 250 of vehicle 220. Lidar systems can be used in addition to, or in some cases instead of, multiple sensor systems 280 . The lidar system 230 of one or more lidar systems may be mounted or installed on the vehicle 220 in various locations and/or in various versions.

[087] For example, the lidar system 230 may be mounted on the inner top portion of the windshield of the vehicle 220. Here, as shown in FIG. 2, installation of the lidar system 230 in other locations, including the rear window, side windows, front hood, roof, front grille, front bumper, or side of the vehicle 220, is within the scope of the present technology. In some cases, the lidar system 230 may be mounted in a special case mounted on top of the vehicle 220.

[088] As mentioned above, the lidar system 230 can also be installed in various versions.

[089] In one embodiment of the invention shown in FIG. 2, a lidar system 230 of one or more lidar systems is mounted on the roof of a vehicle 220 and is rotatable. For example, a lidar system 230 mounted on a vehicle 220 and configured to rotate may include at least some components capable of rotating 360 degrees about the axis of rotation of that lidar system 230. It should be noted that a lidar system 230 mounted to rotate , can collect data on a large portion of the environment 250 of the vehicle 220.

[090] In another embodiment of the invention shown in FIG. 2, the lidar system 230 of one or more lidar systems is mounted on the side or on the front array and is, for example, non-rotatable. In particular, lidar system 230 mounted on vehicle 220 and configured to be non-rotatable may include at least some components that are not capable of 360-degree rotation but are capable of collecting data on specified portions of the environment 250 of vehicle 220.

[091] Regardless of the particular location and/or particular implementation, the lidar system 230 is capable of collecting data about the surrounding space 250 of the vehicle 220 to build a multidimensional map of objects in the surrounding space 250 of the vehicle 220. The following describes how the lidar system 230 collects environmental data 250 of the vehicle 220.

Lidar system

[092] FIG. 3 is a diagram of a non-limiting example of a lidar system 302. It should be noted that lidar system 230 (present in the networked computing environment shown in FIG. 2) can be implemented similarly to lidar system 302.

[093] In general, the lidar system 302 is configured to detect objects at a distance not exceeding a predetermined distance. In some embodiments of the invention, the specified distance corresponds to the immediate proximity of the vehicle. According to the developers, the detection of objects in the immediate vicinity of vehicles can be hindered by self-reflection in the lidar system, which occurs when the output beam is reflected back by the optical components inside the lidar system. Light reflected from nearby objects quickly reaches the lidar system and can be "intercepted" by the light beam reflected from the internal optical components of the lidar system. Therefore, embodiments of the present technology are directed to reducing or preventing self-reflection in a lidar system.

[094] According to some non-limiting embodiments of the present technology, the lidar system 302 may include, among other things, a plurality of internal components, such as (a) an emitting component 304 for emitting, for example, an output beam 320, (b) a scanning component 314 for directing the output beam 320 into the surrounding space 250, (c) the receiving component 312 (also referred to in this document as a “detection system” or “detector”) for detecting reflected light, for example, from an object 325, as an input beam 324, (d ) a gate component 308 for modulating the transmission of the input beam 324 to the receiver component 312; and (e) a control component 316 for controlling the operation of the transmitter component 304 and/or the scanning component 314 and/or the receiver component 312 and/or the gate component 308.

[095] It is contemplated that, in addition to the internal components listed above, lidar system 302 may further comprise a plurality of sensors (such as, for example, a temperature sensor, humidity sensor, etc.) not shown in FIG. 3 for simplicity.

[096] In some non-limiting embodiments of the present technology, one or more internal components of the lidar system 302 may be implemented in a common housing 330, as shown in FIG. 3. In other non-limiting embodiments of the present technology, at least the control component 316 may be located outside the common housing 330 and (optionally) remote from it.

[097] During operation, the lidar system 302 is capable of creating a multi-dimensional map of the surrounding space 250 around the vehicle 220 containing any objects, such as an object 325. This is typically achieved by emitting the output beam 320 into the surrounding area and detecting the reflected light input beam 324, for example , away from object 325. By modulating light access to receiver component 312 with gate component 308, self-reflection can be reduced or eliminated in some embodiments of the invention.

Radiating component

[098] According to non-limiting embodiments of the present technology, emitting component 304 is coupled to a controller, such as control component 316, and is capable of emitting, for example, a signal in the form of a beam, such as output beam 320. In some embodiments, the emitting component 304 is capable of emitting light and may be referred to as light emitting component 304. It is contemplated that output beam 320 may be of any suitable form, such as continuous or pulsed.

[099] In some embodiments of the invention, the emitting component 304 contains one or more lasers that emit light with a specific operating wavelength. The operating wavelength of the emitting component 304 may be in the infrared, visible, and/or ultraviolet portions of the electromagnetic spectrum. For example, emitting component 304 may contain one or more lasers with an operating wavelength in the range of approximately 650-1150 nm. Alternatively, the light source may comprise a laser diode capable of emitting light at a wavelength in the range of about 800-1000 nm, about 850-950 nm, or about 1300-1600 nm. However, it should be noted that the emitting component 304 may contain lasers with different operating wavelengths without departing from the spirit and scope of the present technology. In some other embodiments, the emitting component 304 includes a light emitting diode.

[0100] It is contemplated that the lidar system 302 may comprise an eye-safe laser, or in other words, the lidar system 302 may be classified as an eye-safe laser system or laser product. In general, an eye-safe laser, laser system or laser product can be a system with some combination of the following characteristics: emission wavelength, average power, peak power, peak intensity, pulse energy, beam size, beam divergence, exposure time, output scan characteristics beam, in which the probability of visual impairment of a person when exposed to the light emitted by this system is small or equal to zero.

[0101] As previously stated, the emitting component 304 may include one or more pulsed lasers capable of generating, transmitting, or emitting pulses of light of a certain duration. For example, emitting component 304 may be configured to emit pulses with a duration (ie, pulse width) in the range of 10 ps to 100 ns. In another example, the radiating component 304 may emit pulses with a repetition rate in the range of approximately 100 kHz - 5 MHz, or with a pulse period (ie, the time interval between adjacent pulses) in the range of approximately 200 ns - 10 μs. In general, emitter component 304 may generate output beam 320 with any suitable average optical power, and output beam 320 may include optical pulses with any suitable pulse energy or peak optical power for a given application.

[0102] In some embodiments, the emitting component 304 may include one or more laser diodes, such as, but not limited to, a Fabry-Perot laser diode, a quantum well laser, a distributed Bragg reflector (DBR) laser, a distributed feedback laser (DFB) or vertical cavity surface emitting laser (VCSEL). By way of example only, the laser diode in emitting component 304 may be an aluminum gallium arsenide (AlGaAs) laser diode, an indium gallium arsenide (InGaAs) laser diode, or an indium gallium arsenide phosphide (InGaAsP) laser diode, or any other suitable laser diode. It is also contemplated that the emitting component 304 may include one or more current modulated laser diodes to generate optical pulses.

[0103] In some embodiments, the output beam 320 of the emitting component 304 is a collimated optical beam with any beam divergence suitable for a given application. In general, the divergence of output beam 320 is an angular measure of the increase in beam size (e.g., beam radius or diameter) as output beam 320 propagates from emitter component 304 or lidar system 302. In some embodiments, output beam 320 may have a substantially circular cross section. .

[0104] It is also contemplated that the output beam 320 of the emitting component 304 may be unpolarized or randomly polarized, may have no defined or permanent polarization (eg, its polarization may change over time), or may have a specific polarization (eg, the output beam 320 may have linear polarization, elliptical polarization or circular polarization).

[0105] In at least some embodiments of the invention, output beam 320 and input beam 324 may be substantially coaxial. In other words, output beam 320 and input beam 324 may at least partially overlap or share a common propagation axis, with input beam 324 and output beam 320 following substantially the same optical path (albeit in opposite directions). However, in other embodiments of the invention, it is contemplated that output beam 320 and input beam 324 may not be coaxial or, in other words, may not overlap or share a common propagation axis within lidar system 302 without departing from the spirit and scope of the present technology.

[0106] It should be noted that in at least some embodiments of the present technology, the radiating component 304 can rotate, for example, 360 degrees or less, about a rotation axis (not shown) of the lidar system 302 when the lidar system 302 is implemented with the ability to rotate . However, in other embodiments of the invention, the radiating component 304 may be stationary, even when the lidar system 302 is implemented in a rotatable manner, without departing from the spirit and scope of the present technology.

[0107] It should be clearly understood that the emitting component 304 may further comprise other components not shown in FIG. 3 for simplicity, including but not limited to optical components such as lenses, prisms, mirrors, collimators, polarizers, and the like.

[0108] As shown in FIG. 3, output beam 320 emerges from lidar system 302 and is directed away from the source and into ambient space 250. Assume that object 325 is located at some distance 390 from lidar system 302. When output beam 320 reaches object 325, the light from output beam 320 can at least be partially reflected from the object 325, with some of the reflected light beams may return back to the lidar system 302 as the input beam 324. The term "reflected" means that the light of the output beam 320 is at least partially reflected from the object 325. Partially the light of the output beam 320 may be absorbed by the object 325. It should be noted that in some cases, the input beam 324 may contain only a relatively small portion of the light of the output beam 320. It should also be noted that the angle between the input beam 324 and the surface of the object 325 (the "angle of incidence") may coincide with the angle between the output beam 320 and the surface of the object 325 (the "angle of reflection") or may differ from it.

[0109] Thus, the input beam 324 is captured by the receiving component 312 of the lidar system 302. Finally, by measuring the time between the moment the output beam 320 is emitted and the moment the input beam 324 is received, the distance 390 to the object 325 can be calculated, for example, using the control component 316.

[0110] As shown schematically in FIG. 3, lidar system 302 may use a predetermined internal beam path, such as one of a variety of possible internal beam paths, to transmit output beam 320 generated by emitter 304 to ambient space 250. The lidar system 302 may also use a different internal beam path, form a plurality of possible internal paths, for example, for transmitting the input beam 324 to the receiving component 312. The internal beam path for transmitting the output beam 320 to the surrounding space 250 is hereinafter referred to as the internal radiation channel 318 . The internal beam path for transmitting the input beam 324 to the surrounding space 312 is hereinafter referred to as the internal detection channel 322 .

[0111] In one exemplary embodiment of the invention, the inner channel 318 of the emission can provide the passage of the output beam 320 from the emitter component 304 to the scanning component 314 before it is emitted into the surrounding space 250. The inner channel 322 of the detection provides the passage of the input beam 324 from the scanning component 314 to the receiving component 312 through the scanner.

[0112] In other embodiments of the invention, the lidar system 302 may use a different internal radiation path 318 to provide the passage of the output beam 320 to the scanning component 314. In one embodiment of the invention, the other internal channel 318 of the radiation may provide the passage of the output beam 320 from the emitting component 304 to the scanning component 314, for example, through a beam splitter component (not shown) or through a microelectromechanical (MEM) component (not shown). In other embodiments of the invention, the inner detection channel 322 may allow the input beam 324 to pass to the receive component 312 without passing through the scanning component 314.

[0113] It should be noted that the inner channel 318 emission and/or the inner channel 322 detection may contain one or more optical components, for example, to change the parameters, reshape, focus, filter, modify, aim or change the direction of the output beam 320 and/ or input beam 324. For example, lidar system 302 may include one or more lenses, mirrors, filters (eg, bandpass or interference filters), optical fibers, circulators, beam splitters, polarizers, polarizing beam splitters, waveplates (eg, half-wave or quarter wave plates), diffractive components, microelectromechanical (MEM) components, collimator components, or holographic components. In some embodiments of the invention, the lidar system 302 may include a beam splitter component for splitting the light beam from the emitting component 304 into at least two parts of lesser intensity. For example, in some embodiments of the invention, the inner detection channel 322 and/or the inner emission channel 318 may be implemented as one or more optical fibers.

[0114] It is contemplated that, in at least some embodiments of the invention, the inner emission channel 318 and the inner detection channel 322 may share at least some common optical components.

Scanning component

[0115] In general, scanning component 314 directs output beam 320 in one or more directions into ambient space 250. Scanning component 314 may include one or more optical and/or mechanical components to perform scanning of output beam 320. For example, scanning component 314 may contain one or more mirrors, prisms, lenses, MEMS, piezoelectric components, optical fibers, splitters, diffractive components, collimator components, and the like. It should be noted that the scanning component 314 may also include one or more actuator components (not shown separately) that drive at least some of the optical components, for example, to rotate, tilt, rotate or rotate about one or more axes. In some embodiments of the invention, the scanning component 314 includes a rotating prism or a rotating mirror.

[0116] In addition, the scanning component 314 can scan the output beam 320 in multiple horizontal and/or vertical angular ranges. In other words, the scanning component 314 may play an important role in generating the desired field of view (not shown separately) of the lidar system 302. The field of view of the lidar system 302 may be an area, a volume, an area, an angular range, and/or a portion(s) of the surrounding space 250, for which the lidar system 302 can scan and/or is able to collect data.

[0117] The scanning component 314 may be connected to the control component 316. Thus, the control component 316 may control the scanning component 314 to direct the output beam 320 in the desired direction from the source and/or in accordance with the desired scanning characteristic. In general, a scanning characteristic may be the pattern or path that scanning component 314 directs output beam 320 during operation.

[0118] In some embodiments of the invention, a beam of light from the emitting component 304 during operation is received by the scanning component 314 and then directed into the surrounding space 250. The scanning component 314 is configured to scan the area of interest of the lidar system 302 in accordance with the scanning characteristic.

receiving component

[0119] According to non-limiting embodiments of the present technology, a receiving component 312 (also referred to herein as a "detector") is coupled to a control component 316 and may be implemented in a variety of ways. In general, receiver component 312 is an optoelectronic device configured by control component 316 to convert an optical signal (eg, input beam 324) into a corresponding electrical signal (current and/or voltage). To this end, the receiving component 312 may include, for example, a photodetector, an optical receiver, an optical sensor, a detector, a photodetector, an optical detector, and/or optical fibers, and the like.

[0120] Receiving component 312 receives or detects photons of input beam 324 and generates one or more representative data signals (eg, electrical signals). The receiving component 312 may also transmit the thus generated electrical signal to the control component 316 for further processing. However, in accordance with non-limiting embodiments of the present technology, the receiving component 312 may be configured to convert the input beam 324 into an input electrical signal. In addition, the receiving component 312 may be configured to transmit the input electrical signal thus generated to the control component 316 for further analysis or processing.

[0121] In accordance with some non-limiting embodiments of the present technology, the receiving component 312 may further comprise at least two inputs for receiving at least one more optical signal in addition to the input beam 324.

[0122] Thus, according to some non-limiting embodiments of the present technology, the receiving component 312 may be configured to perform one or more of the following functions: (1) receive input beam 324, (2) convert input beam 324 into input an electrical signal and (3) transmit the input electrical signal to the control component 316 to analyze some of its characteristics, thereby determining the data of the object 325.

[0123] It is contemplated that the receiving component 312 may be implemented using one or more Avalanche PhotoDiodes (APDs), one or more Single-Photon Avalanche Diodes (SPADs), one or more PN photodiodes (e.g. , a photodiode structure formed by a p-type semiconductor and an n-type semiconductor), one or more PIN photodiodes (for example, a photodiode structure formed by an undoped region of an intrinsic semiconductor located between the p-type and n-type regions), etc. P. In some embodiments, receiver component 312 may be implemented as a photodiode array.

[0124] In some non-limiting embodiments of the invention, the receiving component 312 may also include circuitry components that perform signal amplification, sampling, filtering, waveform conversion, analog-to-digital conversion, time-to-digital conversion, pulse detection, threshold detection , rising edge detection, falling edge detection, etc. For example, receiver component 312 may include electronic components capable of converting a received photocurrent (in particular, the current produced by an APD diode when receiving an optical signal) into a voltage signal.

[0125] In some non-limiting embodiments of the present technology, receiver component 312 is a coherent receiver component. In other words, receiver component 312 can be configured by control component 316 to only receive input beam 324 that is coherent with output beam 320, i. when the associated phase difference and/or frequency and/or waveforms are substantially identical and constant over time.

[0126] In some non-limiting embodiments of the present technology, receiver component 312 and control component 316 may be implemented as a single component of lidar system 302 enclosed in a separate housing (not shown separately) to receive input light beams, generating a corresponding electrical signal. and determining data about the object 325 based on the analysis of the corresponding electrical signals.

Shutter component

[0127] The gate component 308 is located in front of the receiver component 312. The gate component 308 is capable of selectively opening and closing the internal detection channel 322 to control the transmission of light to the receiver component 312.

[0128] In this case, the gate component 308 can switch between closed and open positions. In the closed position, the internal detection channel 322 is at least partially blocked. In other words, light, such as input beam 324, cannot be completely transmitted to receiver component 312. Gate component 308 is capable of completely or partially blocking light, such as input beam 324, in the closed position. In the open position, the inner acquisition channel 322 is not blocked and the input beam 324 can be fully transmitted to the receiving component 312.

[0129] As shown in FIG. 4, in some embodiments, the closure component 308 includes a mechanical closure device. In some embodiments of the invention, the mechanical shutter device is a rotating disk 340 with a plurality of slots 342 formed in the body 344. The slots are located radially from the center. The mechanical shutter body 344 has a light-blocking property, and the slots 342 have a light-transmitting property.

[0130] In use, the rotating disc is positioned perpendicular to the inner detection channel 322. As the disc rotates, either the slot or the housing aligns with the internal detection channel and allows the device to selectively switch between the closed and open positions, respectively (as shown in FIG. 5 and FIG. 6). The intensity of light reaching receiver 312 versus time as the device cycles between closed and open positions is shown in FIG. 7.

[0131] In some embodiments of the invention, the housing 344 is able to partially transmit light. Meanwhile, the time dependence of the intensity of light reaching the receiving component 312 is shown in FIG. eight.

[0132] The rotation of the mechanical shutter device is controlled by the control component 316. The rotation speed is determined based on the required time interval for the open and closed positions. It, in turn, is determined on the basis of the transmission of light through the internal radiation channel to the surrounding space in a manner that is described below.

[0133] In some embodiments of the invention, the mechanical shutter device is driven at a frequency of about 500 kHz.

[0134] Other embodiments of the gate component 308 are also possible within the spirit and scope of the present technology, such as a single aperture device that selectively closes or opens to block or allow light transmission.

[0135] In some other embodiments of the invention, the gate component is an electro-optical shutter. An example of such a gate component contains a liquid crystal between the crossed polarizers, which, depending on the applied voltage, can switch between open or closed positions.

[0136] In other embodiments, the gate component is a semiconductor device with an ambipolar device coated with a photoactive semiconductor material. When voltage is applied, the gate component 308 can switch from open to closed and vice versa.

control component

[0137] In non-limiting embodiments of the present technology, control component 316 may include one or more processors, an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), and/or other suitable circuit components. The control component 316 may also include non-volatile computer-readable memory for storing instructions executed by the control component 316 as well as data that the control component 316 may generate based on signals received from other internal components of the lidar system 302 and/or may issue to other internal components of the lidar system. system 302. The memory may include volatile (eg, RAM) and/or non-volatile (eg, flash memory, hard drive) components. The control component 316 may generate data at run time and store it in memory. For example, the data generated by the control component 316 may be associated with data points in the point cloud of the lidar system 302.

[0138] It is contemplated that in at least some non-limiting embodiments of the present technology, the control component 316 may be implemented similarly to the electronic device 210 and/or computer system 100 without departing from the spirit and scope of the present technology.

[0139] In addition to collecting data from the receiving component 312, the control component 316 may also be configured to issue control signals to the emitting component 304 and the scanning component 314 and receive diagnostic data from them.

[0140] As previously stated, control component 316 is connected to emitting component 304 and/or scanning component 314 and/or receiving component 312 and/or gate component 308. According to non-limiting embodiments of the present technology, control component 316 may further issue commands, a control signal, and/or a trigger signal to the radiating component 304.

[0141] By way of example only, the control component 316 is capable of controlling the transmission of the output beam 320 through the internal radiation channel 318 to the surrounding space 250, as well as the timing of the open and closed positions of the gate component 308 depending on the transmission of the output beam 320. Alternatively, the control component 316 can coordinate the open and closed positions of the gate component 308 depending on the operation of the radiating component 304.

[0142] It is also contemplated that the control component 316 may influence the emitter component 304 to control one or more characteristics of the light emitted by the emitter component 304, such as, but not limited to, frequency, period, duration, output power, and output beam wavelength. 320.

[0143] As previously stated, control component 316 may be further configured to determine object data 325 received by emitter component 304 from environment 250 of vehicle 220.

[0144] In some non-limiting embodiments of the present technology, object 325 may include a static object such as a traffic light, a pole, a stopped vehicle, and the like. In other non-limiting embodiments of the present technology, object 325 may include a dynamic object such as a moving vehicle, cyclist, pedestrian, animal, and the like.

[0145] Therefore, according to non-limiting embodiments of the present technology, object 325 data may include at least its distance 390 from lidar system 302 and its instantaneous velocity 327 relative to lidar system 302.

[0146] By way of example only, the controller control component 316 may be configured to provide an electrical trigger signal comprising electrical pulses, with the emitter component 304 emitting an optical pulse in response to each electrical pulse from the electrical trigger signal. It is also contemplated that the control component 316 may act on the emitter component 304 to control one or more characteristics of the light produced by the emitter component 304, such as, but not limited to, frequency, period, duration, pulse energy, peak power, average power, and wavelength. optical impulses.

[0147] It should be noted that the control component 316 of the controller may determine the amount of "time of flight" of the optical pulse based on temporal information associated with (a) the moment the pulse was emitted by the radiating component 304 and (b) the moment a portion of the pulse (for example, an input signal) was detected or received. beam 324) by the receiving component 312.

[0148] It is contemplated that control component 316 may be configured to analyze one or more characteristics of electrical signals from emitter component 304 and/or receive component 312 to determine one or more characteristics of object 325, such as distance 390 from lidar system 302.

[0149] For example, control component 316 may determine the amount of time of flight and/or phase modulation of the emitted pulse of the output beam 320. Suppose that the lidar system 302 determines the amount of time of flight T , which determines, in a sense, the transit time of the emitted pulse from the lidar system 302 to the object 325 and back to the lidar system 302. Based on this, the control component 316 can determine the distance 390 in accordance with the following expression:

where D is the distance 390, T is the time of flight, and c is the speed of light (approximately 3.0×10 ⁸ m/s).

[0150] As previously stated, the lidar system 302 may be used to determine the distance to one or more other potential objects located in the surrounding space 250. By scanning the output beam 320 over the field of view of the lidar system 302 in accordance with the scanning characteristic, the lidar system 302 capable of capturing the distance (similar to distance 390) to the respective data points in the field of view of the lidar system 302. Based on this, the lidar system 302 allows these successive data points (eg, point clouds) to be visualized as a multidimensional map.

[0151] For example, such a multi-dimensional map may be used by the electronic device 210 to detect or otherwise identify objects, or to determine the shape or distance of potential objects in the field of view of the lidar system 302. It is contemplated that the lidar system 302 can repeatedly/iteratively acquire and/or generate point clouds at any rate suitable for the application.

[0152] It should be noted that the location of a given object in the environment 250 of the vehicle 220 may overlap with the area of interest, be covered by the area of interest, or cover at least partially the area of observation of the lidar system 302. For example, the object 325 may include, in whole or in part , human, vehicle, motorcycle, truck, train, bike, wheelchair, stroller, pedestrian, animal, road sign, traffic light, lane marking, road surface marking, parking space, pylon, guardrail, road barrier, pothole, railway crossing, obstacle on or near the road, curb, stopped vehicle on or near the road, pole, house, building, trash can, mailbox, tree, any other suitable object, or any suitable combination, in whole or in part, of the two and more objects.

[0153] Thus, in accordance with some non-limiting embodiments of the present technology, the lidar system 302 may be used to determine the distance to one or more other potential objects located in the environment 250 of the vehicle 220, representing the thus determined distances ( similar to distance 390) in the form of a point cloud, which can then be used to create a multi-dimensional map of the surrounding space 250. In addition, the lidar system 302 is capable of registering "on the fly" speeds and distances to objects located in the surrounding space 250, which further allows calculate the trajectory of the vehicle 220 to ensure traffic safety (for example, to avoid collision with other vehicles) and passenger comfort.

[0154] According to some non-limiting embodiments of the present technology, lidar system 302 is used to improve detection of objects (eg, object 325). In some embodiments, the detection of objects in the immediate vicinity of the vehicle 220 can be improved. This, in turn, improves the safety of the vehicle. By "close proximity" is meant the distance from housing 330 within which a self-reflection ("oversaturation") problem may occur. This is related to the power of the radiation source. The higher the power, the larger the zone of possible oversaturation and "immediate proximity". For example, for a lidar system capable of detecting objects at a distance of 250 to 300 m, the "close proximity" zone is approximately 7-10 m from the lidar system.

[0155] Accordingly, in some embodiments, control component 316 is capable of performing method 1000 for operating a lidar system, such as lidar system 302, in a manner that eliminates or reduces problems associated with self-reflection.

Computer methods

[0156] FIG. 9 is a flow diagram of a method 1000 in accordance with non-limiting embodiments of the present technology. Method 1000 may be performed by control component 316.

Step 1010: determining the emission of output beams from the emitting component of the lidar system in the direction of the scanning component of the lidar system, capable of directing the output beams into the area of interest.

[0157] The method 1000 begins at step 1010, in which the emission of output beams, for example, a plurality of output beams 320, by an emitter component, for example, emitter component 304. be directed at a scanning component, such as scanning component 314 of lidar system 302, capable of directing output beams 320 into a region of interest, such as the environment 250 of vehicle 220. Scanning component 314 may direct output beams 320 in a given horizontal and/or vertical angular range. These angular ranges can be preset. The emitting component 304 may emit output beams according to the emission start time and the emission end time. The control component 316 can control the start time and end time of the radiation.

[0158] The output beams 320 may comprise a sequence of light pulses, wherein the emission start time corresponds to the beginning of the emission of the first beam of the output beam sequence, and the emission end time corresponds to the end of the emission of the last beam of the output beam sequence. The control component 316 may be configured to control one or more of the following: the start time of the first beam of the output beam sequence, the end time of the last beam of the output beam sequence, and the duration of each beam of the output beam sequence.

[0159] In some other embodiments of the invention, another controller or processor is used to control the radiating component 304 than the control component 316.

Step 1020: Controlling the gate component to switch between a closed position, in which the internal detection path is at least partially blocked, and an open position, in which the internal detection path is open, with the gate component in the closed position when the emitting component emits output beams , and the gate component is in the open position when receiving input beams that are a reflection of the output beams from the field of view.

[0160] In step 1020, according to some non-limiting embodiments of the present technology, the control component 316 may switch the gate component 308 between open and closed positions, as shown in FIG. 5 and 6. In the closed position, the internal detection channel 322 leading to the receiving component 312 is at least partially blocked. In the open position, the internal detection channel 322 leading to the receiving component 312 is open. This means that in the closed position, any light, including the self-reflected light of the lidar system 302, is at least partially blocked from passing to the receiving component 312. This allows you to eliminate or minimize the effects associated with self-reflection, and improve the detection of objects in the surrounding space 250.

[0161] The control component 316 is capable of controlling the gate component 308, wherein the internal detection channel 322 is at least partially blocked when the emitting component 304 emits output beams 320, and is open when receiving input beams (324) resulting from reflecting output beams (320 ) from the surrounding space 250.

[0162] However, in some embodiments of the invention, the control component 316 can coordinate the closing of the internal detection channel 322 with the start time of the emission of output beams 320 by the radiating component 304 (Fig. 10). In other words, the start time 500 of the gate component 308 to close corresponds to the start time of the output beams 320. rays in sequence.

[0163] The control component 316 is capable of controlling the gate component 308 by performing multiple cycles of setting it to open and closed positions. The gate component 308 may be controlled for several cycles in synchronism with the emitter component 304.

[0164] The end time 510 of the closed position of the gate component 308 can be considered as the start time 520 of the open position of the gate component 308 in the same cycle (in the first cycle 525). The end open time 530 can be considered as the start time 540 of the closed position in the next cycle (in the second cycle 535). The end time 550 of the closed position of the second cycle corresponds to the start time 560 of the open position of the second cycle 535.

[0165] In some other embodiments of the invention, the gate component 308 switches between open and closed positions during the emission of the sequence of output beams. In these embodiments, the control component 316 is capable of controlling the switching of the gate component 308 between the closed and open positions in synchronization with the individual output beams of the output beam sequence emerging from the internal radiation channel. Thus, the gate component 308 switches between the closed and open positions several times during the emission of each output sequence.

[0166] Here, the open and closed positions of component 308 are shown with the same duration. However, in some embodiments of the invention, the open and closed positions of the closure component may have different durations. In other words, the inner channel 322 of the discovery may be open or at least partially open during time intervals of different durations. Various cycles of the open and closed positions of the shutter component 308 are shown as a repetition of the first cycle. However, in some embodiments of the invention, different cycles of open and closed positions may have different durations.

[0167] The control component 316 is capable of switching the gate component 308 from the closed position to the open position so that the internal detection channel is in the open position when receiving input beams (324) resulting from the reflection of output beams (320) from the field of view.

[0168] The end time 510 of the closed position and/or the start time of the open position 520 of the gate component 308 may be determined for the output beams 320 emerging from the lidar system 302 into the surrounding space 250. Accordingly, in some embodiments of the invention, the control component 316 initiates the switching of the gate component 308 from a closed position to an open position when the output beams 324 emerge from the internal emission path 318 of the lidar system 302. The internal emission path 318 is those optical paths within the lidar system housing 330 that carry the emitted output beams. In FIG. 11, internal emission channel 318 in lidar system 302 is shown in dotted lines, and output beams 320 emerging from internal emission channel 318 are shown in solid lines. The gate component 308 is in the closed position and therefore the inner detection path 322 is at least partially blocked until the output beam 320 exits the housing 330 for transmission to the surrounding space 250. For output beams 320 containing a beam sequence, the gate component 308 will be in the closed position and therefore the inner detection channel 322 will be at least partially blocked until the last beam in the sequence exits the inner radiation channel 318 .

[0169] In some embodiments of the invention, the end time of the closed position of the gate component 308 may be determined by whether the gate component 308 completely or partially blocks the internal channel 322 of detection.

[0170 In situations in which the gate component 308 completely blocks the inner detection channel 322, in some embodiments, the end time corresponds to the moment when each of the output beams 320 in sequence exits the inner radiation channel 318. In other embodiments of the invention, the end time corresponds to the moment when all output beams 320 in sequence leave the inner channel 318 of radiation.

[0171] In situations in which the gate component 308 only partially blocks the internal detection channel 322, for example, by darkening or obscuring it, in some embodiments of the invention, the final time corresponds to the time required for radiation to exit the internal channel 318 and propagate to a given distance from body 330 of the lidar system. In some embodiments of the invention, the end time corresponds to the moment when each of the output beams 320 of the sequence leaves the inner channel 318 of the radiation and propagates to a predetermined distance. In other embodiments of the invention, the end time corresponds to the moment when all output beams 320 leave the internal channel 318 of radiation and propagate to a given distance. In some embodiments, the predetermined distance may be defined as the minimum distance from which internal self-reflection is not detected, or as the minimum distance at which an incoming beam signal from a nearby object can be obtained with an acceptable or processable signal-to-noise ratio.

[0172] Thus, the operation time of the gate component 308 when switching from the closed position to the open position is coordinated with the operation time of the scanning component 314 of the lidar system 302. The switching of the gate component 308 from the closed position to the open position can be controlled based on the emission time of the output beams 320 emitting component 304, the length of the internal channel 318 of the radiation and the speed of light. For example, if the output beam 320 is emitted by the emitting component 304 at time t = 0 seconds, this time indicates the initial time 500 of the closed position of the shutter component 308. Assuming that the length of the internal radiation channel 318 is d , and the output beam propagates at a speed c , the end time 510 of the closed position of the gate component 308 (or the start time 520 of the open position) can be defined as

[0173] Since the distance d and speed c of the output beam 320 for a given lidar system can be predetermined, the end time 510 of the closed position of the gate component 308 can also be predetermined. Accordingly, in some embodiments of the invention, the control component 316 is capable of switching the gate component 308 from a closed position to an open position at a predetermined time after the output beams 320 have been emitted.

[0174] In some embodiments, the length d of the inner channel 318 of the radiation can be defined as the total length of all channels between the optical components in the lidar system 302 - from the emitter component 304 to the last optical component in the lidar system 302 before the beam 320 exits the housing 330. The last optical component may be, for example, a lens.

[0175] It should be noted that in the case where the output beam 324 extends to an infinitesimal distance from the body 330, formula (2) may not be applicable.

[0176] In some embodiments of the invention, where the gate component 308 partially blocks the internal detection channel 322, the operating time of the gate component 308 also differs from the time determined by formula (2). In particular, in these embodiments, the operating time of the gate component 308 is determined by the total length of the internal radiation channel, to which is added a variable predetermined distance multiplied by 2.

[0177] In some embodiments of the invention, the operating time can be determined experimentally as a case of complete blocking of the internal channel 322 of detection by the gate component 308, and for the case of its partial blocking.

[0178] In some other embodiments of the invention, the switching of the gate component 308 from the closed position to the open position may be based on the current monitoring of the internal radiation channel 318 or another part of the lidar system 302, and not based on a predetermined time. In this case, the switching of the gate component 308 is performed based on the results of the current monitoring.

[0179] In some other embodiments of the invention, switching the gate component 308 from a closed position to an open position is based on the removal of the output beams 320 by a predetermined distance from the lidar system 302. This can be detected by sensors and the like. or determined based on a predetermined time.

[0180] In some embodiments of the invention, for subsequent cycles of control of the gate component 308, the control component 316 may switch the gate component from an open position to a closed position based on a predetermined time interval.

[0181] Switching from the closed position to the open position may occur simultaneously with the emission of the output beams 320 by the emitting component 304. In embodiments of the invention where the emitting component 304 is controlled by the same control component 316 as the gate component 308, the control component 316 can simultaneously output commands to both the radiating component 304 and the gate component 308. In embodiments where the radiating component 304 is not controlled by the same control component 316 as the gate component 308, the control component 316 may coordinate the switching of the gate component 308 to the closed position by monitoring the operation radiation source 304, or through communication with the controller of the emitting component 304.

[0182] Additional steps of the method 1000 comprise determining by the control component 316 the data of the object 325 based on the detected input beam 324. The data of the object 325 can then be used by the control component 316 to control the vehicle 220. For example, given the distance 390 to the object, the control component 316 can determine updated vehicle trajectory 220.

[0183] This completes the method 1020.

[0184] Thus, some non-limiting embodiments of the lidar system 302 can minimize or reduce the effects of self-reflection and improve the detection of obstacles in the surrounding space of the vehicle 220. In addition, by at least partially blocking the internal detection channel at the time, when it is impractical to perform detection of the reflected output beam, non-informative light radiation not associated with objects in the surrounding space 250 is not passed into the internal detection channel. This allows you to reduce or minimize the "noise" in the system with all the benefits associated with it.

[0185] Accordingly, these non-limiting embodiments of the lidar system 302 allow for the recording of more reliable data of one or more objects in the environment 250 located at a small distance from the lidar system 302, in particular, providing (1) the creation of a more accurate multidimensional map objects and (2) more efficient control of the vehicle 220 (for example, planning its trajectory), in particular, in terms of avoiding collisions with objects in the surrounding space 250.

[0186] For a person skilled in the art, possible changes and improvements in the above-described embodiments of the present technology may be obvious. The foregoing description is for illustrative purposes only and is not intended to limit the scope of the invention. The scope of protection of this technology is determined solely by the scope of the appended claims.

[0187] While embodiments of the invention have been described above with specific steps performed in a specific order, it should be understood that these steps can be combined, subdivided, or reordered without departing from the spirit and scope of the present technology. Accordingly, the order of execution and grouping of these steps is not a limitation of the present technology.

Claims (27)

1. Lidar system for detecting objects in the area of observation of an autonomous vehicle, containing: a radiating component configured to emit output beams; a scanning component configured to direct the output beams into the observation area; a receiving component configured to receive input beams reflected from objects in the area of interest through the internal detection channel; a gate component configured to switch between closed and open positions, wherein the internal detection path is at least partially blocked when the gate component is in the closed position and the internal detection path is open when the gate component is in the open position; a control component connected to the gate component in such a way that the gate component is in the closed position when the emitting component emits output beams, and the gate component is in the open position when receiving input beams resulting from the reflection of output beams from the field of view. 2. The system of claim 1, wherein the control component is further configured to control the gate component to switch from a closed position to an open position when the output beams exit the internal radiation channel of the lidar system. 3. The system of claim 1, wherein the control component is further configured to control the gate component to switch from a closed position to an open position when the output beams reach a predetermined distance from the lidar system. 4. The system of claim. 1, in which the output beams are emitted in the form of a sequence of output beams, while the control component is further configured to switch the gate component to the closed position, when the emitting component emits all beams from the sequence, and switch the gate component from the closed position to the open position when each beam in the output beam sequence has exited the internal radiation channel of the lidar system. 5. The system of claim. 1, in which the output beams are emitted in the form of a sequence of output beams, while the control component is further configured to switch the gate component to the closed position, when the emitting component emits all beams from the sequence, and switch the gate component from the closed position to the open position when each beam in the output beam sequence reaches a predetermined distance from the lidar system. 6. The system of claim. 1, in which the control component is configured to switch the gate component from an open position to a closed position simultaneously with the emission of output beams by the radiating component. 7. The system of claim. 1, in which the control component is further configured to switch the gate component from an open position to a closed position after a predetermined time after the emission of output beams by the radiating component. 8. The system of claim. 1, in which the control component is further configured to switch the shutter component from an open position to a closed position based on a predetermined time interval. 9. The system of claim. 1, in which the closure component contains a mechanical closure device. 10. The system of claim. 9, in which the mechanical shutter device contains a rotating disk with many slots in its body, while the control component is additionally capable of rotating this disk at a frequency of 500 kHz. 11. The system of claim 1, wherein the gate component comprises an electro-optical and/or semiconductor gate device. 12. The system of claim. 1, in which the gate component contains translucent components and is configured to partially block the internal detection channel. 13. The system of claim. 1, in which the scanning component contains a rotary prism or a rotary mirror. 14. The system of claim. 1, in which the receiving component is a photodetector, and the gate component is located in the internal detection channel before the photodetector. 15. A method for detecting objects in the area of observation of an autonomous vehicle, performed by the control component of the lidar system connected to the gate component of the lidar system, which is located before the receiving component capable of receiving input beams reflected from objects in the area of observation, via an internal detection channel, including: myself: emitting output beams from the lidar system radiation source towards a scanning component of the lidar system capable of directing the output beams into the observation area; providing switching of the gate component between a closed position, in which the internal detection channel is at least partially blocked, and an open position, in which the internal detection channel is open, while the gate component is in the closed position, when the emitting component emits output beams, and the gate component is in the open position when receiving input beams arising from the reflection of the output beams from the observation area. 16. The method of claim 15, wherein the control component causes the gate component to switch from a closed position to an open position when output beams emerge from an internal radiation channel of the lidar system. 17. The method of claim 15, wherein the control component causes the gate component to switch from a closed position to an open position when the output beams reach a predetermined distance from the lidar system. 18. The method of claim 15, wherein the output beams are emitted as an output beam sequence, wherein the control component is configured to set the gate component to a closed position while the emitting component is emitting beams from the output beam sequence, and switching from the closed position to open position, when each beam in the output beam sequence exits the internal radiation channel of the lidar system. 19. The method of claim 15, wherein the output beams are emitted as a series of beams, wherein the control component is configured to set the gate component to a closed position while the emitting component emits beams from the series of output beams and switch from a closed position to an open position. the position when each ray in the ray sequence reaches a given distance from the lidar system. 20. The method of claim 15, wherein the control component causes the shutter component to switch between an open position and a closed position based on a predetermined time interval.

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