# US 10,871,779 B2 · Wide-view LIDAR with areas of special attention > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,779 B2 - Document ID: US10871779B2 - Status: Granted - Kind: B2 - Application number: 16/190,300 - Filed: 2018-11-14 - Published: 2019-03-21 - Granted: 2020-12-22 - Earliest claimed: 2012-09-26 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Bradley Templeton; Pierre-Yves Droz; Jiajun Zhu - Web page: https://patentgrep.com/patent/US10871779B2 ## CPC - G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)} - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/484: Transmitters - G01S 7/4865: Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak (peak detection in noise, signal conditioning G01S7/487) - G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature. ## Claims ### Claim 1 A method, comprising: controlling a light detection and ranging (LIDAR) device, wherein the LIDAR device is configured to emit light pulses into an environment of the LIDAR device, wherein controlling the LIDAR device comprises changing a time interval between successive light pulses emitted by the LIDAR device from a first time interval to a second time interval, wherein changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval comprises changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval during a 360-degree scan of the environment based on information about the environment, wherein the information about the environment is based on a previous scan of the environment by the LIDAR device. ### Claim 2 (depends on 1) The method of claim 1, wherein the second time interval is less than the first time interval. ### Claim 3 (depends on 1) The method of claim 1, wherein the second time interval is greater than the first time interval. ### Claim 4 (depends on 1) The method of claim 1, wherein controlling the LIDAR device further comprises changing the time interval between successive light pulses emitted by the LIDAR device from the second time interval to the first time interval. ### Claim 5 (depends on 1) The method of claim 1, wherein the first time interval defines a first pulse rate and the second time defines a second pulse rate. ### Claim 6 (depends on 5) The method of claim 5, wherein controlling the LIDAR device further comprises: causing the LIDAR device to emit light pulses at the first pulse rate during a first period of time; and causing the LIDAR device to emit light pulses at the second pulse rate during a second period of time. ### Claim 7 (depends on 6) The method of claim 6, wherein the LIDAR device scans a first portion of the environment during the first period of time and scans a second portion of the environment during the second period of time. ### Claim 8 (depends on 6) The method of claim 6, further comprising: generating a point cloud representation of at least a portion of the environment based on reflections of light pulses emitted at the first pulse rate during the first period of time and reflections of light pulses emitted at the second pulse rate during the second period of time. ### Claim 9 (depends on 1) The method of claim 1, wherein changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval further comprises changing the time interval between successive light pulses emitted by the LIDAR device from the first time interval to the second time interval based on one or more thermal characteristics of the LIDAR device. ### Claim 10 A system, comprising: a light detection and ranging (LIDAR) device, wherein the LIDAR device is configured to emit light pulses into an environment of the LIDAR device; and a controller configured to control the LIDAR device by at least controlling a time interval between successive light pulses emitted by the LIDAR device during a 360-degree scan of the environment based on information about the environment, wherein the information about the environment is based on a previous scan of the environment by the LIDAR device. ### Claim 11 (depends on 10) The system of claim 10, wherein the controller is further configured to control the time interval between successive light pulses emitted by the LIDAR device based on one or more thermal characteristics of the LIDAR device. ### Claim 12 (depends on 10) The system of claim 10, wherein controlling the time interval between successive light pulses emitted by the LIDAR device comprises changing the time interval between successive light pulses emitted by the LIDAR device from a first time interval to a second time interval. ### Claim 13 (depends on 12) The system of claim 12, wherein the second time interval is less than the first time interval. ### Claim 14 (depends on 12) The system of claim 12, wherein the second time interval is greater than the first time interval. ### Claim 15 (depends on 12) The system of claim 12, wherein the first time interval defines a first pulse rate and the second time interval defines a second pulse rate. ### Claim 16 (depends on 15) The system of claim 15, wherein the controller is further configured to control the LIDAR device by at least: causing the LIDAR device to emit light pulses at the first pulse rate during a first period of time; and causing the LIDAR device to emit light pulses at the second pulse rate during a second period of time. ### Claim 17 (depends on 1) The method of claim 1, wherein the LIDAR device is configured to rotate while emitting light pulses. ### Claim 18 (depends on 10) The system of claim 10, wherein the LIDAR device is configured to rotate while emitting light pulses.