# US 10,120,076 B2 · Spatio-temporal scanning patterns for array lidar systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,120,076 B2 - Document ID: US10120076B2 - Status: Granted - Kind: B2 - Application number: 15/145,911 - Filed: 2016-05-04 - Published: 2016-11-10 - Granted: 2018-11-06 - Earliest claimed: 2015-05-07 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Kobi J. Scheim; Ariel Lipson; Ran Y. Gazit; Oded Bialer - Web page: https://patentgrep.com/patent/US10120076B2 ## CPC - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 7/4815: {using multiple transmitters} - G01S 17/931: of land vehicles - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An array lidar system on a platform and a method of operating an array lidar system comprising a plurality of illuminators on a platform include controlling a first set of the plurality of illuminators to transmit for a first duration, and controlling a second set of the plurality of illuminators to transmit for a second duration. The method also includes receiving and processing reflections resulting from the first set of the plurality of illuminators and the second set of the plurality of illuminators. ## Claims ### Claim 1 A method of operating an array lidar system comprising a plurality of illuminators on a platform, the method comprising: controlling a first set of the plurality of illuminators to transmit for a first duration; controlling a second set of the plurality of illuminators to transmit for a second duration; and receiving and processing reflections resulting from the first set of the plurality of illuminators and the second set of the plurality of illuminators, wherein the controlling the first set of the plurality of illuminators and the controlling the second set of the plurality of illuminators includes performing an adaptive scan based on obtaining information and the performing the adaptive scan includes increasing a pulse burst duration of one or more of the plurality of illuminators based on the information. ### Claim 2 (depends on 1) The method according to claim 1, wherein the controlling the first set of the plurality of illuminators includes one of controlling illuminators among the plurality of illuminators that are arranged in a row and the controlling the second set of the plurality of illuminators includes controlling illuminators among the plurality of illuminators that are arranged in another row or the controlling the first set of the plurality of illuminators includes controlling illuminators among the plurality of illuminators that are arranged in a column and the controlling the second set of the plurality of illuminators includes controlling illuminators among the plurality of illuminators that are arranged in another column. ### Claim 3 (depends on 1) The method according to claim 1, wherein the controlling the first set of the plurality of illuminators includes controlling one of the plurality of illuminators and the controlling the second set of the plurality of illuminators includes controlling another one of the plurality of illuminators. ### Claim 4 (depends on 1) The method according to claim 1, wherein the obtaining the information includes obtaining a location of a target of interest and the increasing the pulse burst duration of the one or more of the plurality of illuminators includes increasing the pulse burst duration of the one or more of the plurality of illuminators associated with the location. ### Claim 5 (depends on 1) The method according to claim 1, wherein the obtaining the information includes determining that one or more of the plurality of illuminators is affected by an interfering light source and the performing the adaptive scan includes refraining from transmitting with the one or more of the plurality of illuminators. ### Claim 6 (depends on 1) The method according to claim 1, wherein the obtaining the information includes determining a signal-to-noise ratio (SNR) of the reflections and the increasing the pulse burst duration of the one or more of the plurality of illuminators includes increasing the pulse burst duration of the one or more of the plurality of illuminators that result in the SNR being below a threshold. ### Claim 7 An array lidar system on a platform, the system comprising: a plurality of illuminators arranged in an array; and a controller configured to control a first set of the plurality of illuminators to transmit for a first duration, to control a second set of the plurality of illuminators to transmit for a second duration, and to receive and process reflections resulting from the first set of the plurality of illuminators and the second set of the plurality of illuminators, wherein the controller controls the plurality of illuminators based on receiving information, and the controller increases a pulse burst duration of one or more of the plurality of illuminators based on the information. ### Claim 8 (depends on 7) The system according to claim 7, wherein the first set of the plurality of illuminators is arranged in a row of the array and the second set of the plurality of illuminators is arranged in another row of the array or the first set of the plurality of illuminators is arranged in a column of the array and the second set of the plurality of illuminators is arranged in another column of the array. ### Claim 9 (depends on 7) The system according to claim 7, wherein the first set of the plurality of illuminators is one of the plurality of illuminators and the second set of the plurality of illuminators is another one of the plurality of illuminators. ### Claim 10 (depends on 7) The system according to claim 7, wherein the information includes a location of a target of interest, and the controller increases the pulse burst duration of the one or more of the plurality of illuminators associated with the location. ### Claim 11 (depends on 10) The system according to claim 10, wherein the controller receives the information about the location from an auxiliary sensor. ### Claim 12 (depends on 7) The system according to claim 7, wherein the information includes information that one or more of the plurality of illuminators is affected by an interfering light source and the controller prevents transmissions from the one or more of the plurality of illuminators. ### Claim 13 (depends on 7) The system according to claim 7, wherein the information is a signal-to-noise ratio (SNR) of the reflections and the controller increases the pulse burst duration of the one or more of the plurality of illuminators that result in the SNR being below a threshold.