US 11,448,759 B2Granted

Systems and methods for instantaneous scanning by a LiDAR sensor at multiple wavelengths

AssigneeToyota Motor Engineering & Manufacturing North America, Inc.

InventorPaul Donald Schmalenberg

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Abstract

In one embodiment, a wide-band laser beam is split into a plurality of sub-laser beams, with each sub-laser beam at a discrete wavelength. Each of the sub-laser beams is transmitted simultaneously through an antenna, with each sub-laser beam transmitted at a different angle due to properties of the antenna. Sub-laser beams that reflect off an object are received back at the same, or a different, antenna and passed to a demultiplexor. The demultiplexor passes each sub-laser to a different waveguide based on the discrete wavelength associated with each sub-laser beam. A detector receives the sub-lasers beam through the waveguides, and calculates the positions of various points on the object based in-part on which waveguide each sub-laser beam is received from and the frequency of each sub-laser beam.

Claims19

Dependent claims

A method for instantaneous scanning by a LiDAR sensor at multiple wavelengths, the method comprising:

receiving a laser beam, wherein the laser beam is associated with a wavelength band;
dividing the laser beam into a plurality of discrete wavelengths, wherein each discrete wavelength is a sub-band of the wavelength band associated with the laser beam;
for each wavelength of the plurality of discrete wavelengths, transmitting a sub-laser beam of the laser beam, wherein each sub-laser beam is associated with a different discrete wavelength of the plurality of discrete wavelengths;
receiving some or all of the sub-laser beams, wherein the some or all of the sub-laser beams were reflected off an object;
providing each sub-laser beam, of the some or all of the sub-laser beams, to a different waveguide of a plurality of waveguides, wherein each waveguide corresponds to a different discrete wavelength of a plurality of discrete wavelengths reflected off the object;
receiving, via the plurality of waveguides, the some or all of the sub-laser beams, wherein each discrete wavelength is associated with a corresponding detector of an array of detectors;
for the each discrete wavelength, calculating, using the array of detectors, an estimate of an actual power of a corresponding sub-laser beam, the estimate incorporating an adjustment of a detected power of the corresponding sub-laser beam, the adjustment associated with at least one characteristic of at least one pair of a waveguide and a corresponding detector, the at least one characteristic associated with a difference between the detected power and the actual power, wherein the estimate of the actual power of the corresponding sub-laser beam is an element of a first vector, the first vector representing estimates of the actual power for the some or all of the sub-laser beams, the detected power of the corresponding sub-laser beam is an element of a second vector, the second vector representing the detected power for the some or all of the sub-laser beams, and the array of detectors calculates the estimate by multiplying the second vector by a matrix, the matrix having, for each pair of the waveguide and the corresponding detector, at least one value associated with the at least one characteristic associated with the difference between the detected power and the actual power;
and
determining, based on estimates of the actual power of the some or all of the sub-laser beams, positions of a plurality of points on the object.

6 more elements

A system for instantaneous scanning by a LiDAR sensor at multiple wavelengths, the system comprising:

a comb generator configured to:
receive a laser beam, wherein the laser beam is associated with a wavelength band;
and
divide the laser beam into a plurality of discrete wavelengths, wherein each discrete wavelength is a sub-band of the wavelength band associated with the laser beam;
a first antennae configured to:
receive the laser beam divided into the plurality of discrete wavelengths;
and
for each wavelength of the plurality of discrete wavelengths, transmit a sub-laser beam of the laser beam, wherein each sub-laser beam is associated with a different discrete wavelength of the plurality of discrete wavelengths;
a second antennae configured to receive some or all of the sub-laser beams, wherein the some or all of the sub-laser beams were reflected off an object;
a demultiplexer configured to provide each sub-laser beam, of the some or all of the sub-laser beams, to a corresponding waveguide of a plurality of waveguides, wherein each waveguide is for a corresponding discrete wavelength of a plurality of discrete wavelengths reflected off the object;
and
an array of detectors configured to:
receive, via the plurality of waveguides, the some or all of the sub-laser beams, wherein each discrete wavelength is associated with a corresponding detector of the array of detectors;
for the each discrete wavelength, calculate an estimate of an actual power of a corresponding sub-laser beam, the estimate incorporating an adjustment of a detected power of the corresponding sub-laser beam, the adjustment associated with at least one characteristic of at least one pair of a waveguide and a corresponding detector, the at least one characteristic associated with a difference between the detected power and the actual power;
and
determine, based on estimates of the actual power of the some or all of the sub-laser beams, positions of a plurality of points on the object,
wherein:
the estimate of the actual power of the corresponding sub-laser beam is an element of a first vector, the first vector representing estimates of the actual power for the some or all of the sub-laser beams,
the detected power of the corresponding sub-laser beam is an element of a second vector, the second vector representing the detected power for the some or all of the sub-laser beams,
the array of detectors is configured to calculate the estimate by multiplying the second vector by a matrix, the matrix having, for each pair of the waveguide and the corresponding detector, at least one value associated with the at least one characteristic associated with the difference between the detected power and the actual power.

17 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/266,383Filed 4 Feb 2019
Published: US 2020/0249350 A16 Aug 2020
Granted: 20 Sep 2022
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

G01S 7/4817
Constructional features, e.g. arrangements of optical elements: relating to scanning
G01S 17/34
Using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated: using transmission of continuous,…
G01S 7/4814
Constructional features, e.g. arrangements of optical elements: of transmitters alone
G01S 7/4911
Details of non-pulse systems: transmitters