Compensating for the vibration of the vehicle
AssigneeLuminar Technologies, Inc.
InventorsJohn E. McWhirter, Jason M. Eichenholz, Austin K. Russell
Life of this patent
Estimating the term…
Abstract
To compensate for the effects of vibration on a lidar system in a vehicle, a vibration sensor within the lidar system and/or the vehicle detects vibration, such as a gyroscope, accelerometer, inertial measurement unit (IMU), etc. The detected vibration is then used to generate a compensation signal. The compensation signal is combined with a drive signal that drives a scanner configured to direct light pulses across a field of regard. The combined signal is provided to the scanner, and accordingly, the light pulses are accurately directed across the field of regard.
Claims22
A method for compensating for vibration in a lidar system, the method comprising:
- emitting light pulses by a light source in the lidar system;
- generating a drive signal for a scanner in the lidar system to direct the light pulses across a field of regard of the lidar system toward different points within the field of regard;
- determining an amount of vibration at the lidar system via an accelerometer, gyroscope, or inertial measurement unit (IMU);
- generating a compensation signal that reduces effects of vibration on the scanner based on the determined amount of vibration;
- and
- combining the drive signal for the scanner with the compensation signal.
A lidar system comprising:
- a light source configured to emit light pulses;
- a scanner configured to scan a field of regard of the lidar system including directing the light pulses at different angles toward different points within the field of regard;
- a controller configured to drive the scanner to direct the light pulses across the field of regard, including:
- generate a drive signal for directing the light pulses across the field of regard;
- obtain an indication of an amount of vibration at the lidar system from an accelerometer, gyroscope, or inertial measurement unit (IMU);
- generate a compensation signal that reduces effects of vibration on the scanner based on the determined amount of vibration;
- combine the drive signal for the scanner with the compensation signal;
- and
- provide the combined signal to the scanner;
- and
- a detector configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels.
An autonomous vehicle comprising:
- an inertial measurement unit (IMU) configured to provide a vibration signal corresponding to an amount of vibration at the autonomous vehicle;
- one or more components configured to maneuver the autonomous vehicle;
- a lidar system configured to detect objects within a threshold distance of the autonomous vehicle, the lidar system including:
- a light source configured to emit light pulses;
- a scanner configured to scan a field of regard of the lidar system;
- a lidar controller configured to drive the scanner to scan the light pulses across the field of regard, including:
- generate a drive signal for directing the light pulses across the field of regard;
- receive from the IMU the vibration signal corresponding to the amount of vibration at the autonomous vehicle;
- generate a compensation signal that reduces effects of vibration on the scanner based on the amount of vibration;
- combine the drive signal for the scanner with the compensation signal;
- and
- provide the combined signal to the scanner;
- and
- a detector configured to detect light from some of the light pulses scattered by one or more remote targets to generate respective pixels corresponding to a point cloud representing the field of regard;
- and
- a vehicle controller configured to provide control signals to the one or more components to maneuver the autonomous vehicle in accordance with data from the point cloud.
Dependencies are inferred from the claim text.