Velocity estimation using light detection and ranging (LIDAR) system

A device, comprising:

• a light detection and ranging (LIDAR) system coupled to an autonomous vehicle;
• a processor;
• and
• a computer-readable medium including instructions that, when executed by the processor, cause the processor to perform operations comprising:
• configuring a threshold time interval for the LIDAR system, the threshold time interval configured to permit the LIDAR system to, as the autonomous vehicle is moving, emit a first laser pulse and a second laser pulse within the threshold time interval and hit a vehicle on a roadway based on an expected velocity of the vehicle;
• emitting the first laser pulse using the LIDAR system, the first laser pulse being emitted at a first point in time;
• receiving a first signal reflected off of the vehicle on the roadway;
• emitting a second laser pulse using the LIDAR system, the second laser pulse being emitted at a second point in time within the configured time interval;
• receiving a second signal reflected off of the vehicle on the roadway;
• determining a first time of flight information of the first signal;
• determining a second time of flight information of the second signal;
• and
• determining a velocity of the vehicle on the roadway based at least in part on the first time of flight information and the second time of flight information.

A non-transitory computer-readable medium having stored thereon a sequence of instructions that, when executed by a processor, causes the processor to perform operations comprising:

• configuring a threshold time interval for a light detecting and ranging (LIDAR) system coupled to an autonomous vehicle, the threshold time interval configured to permit the LIDAR system to, as the autonomous vehicle is moving, emit a first laser pulse and a second laser pulse within the threshold time interval and hit a vehicle on a roadway based on an expected velocity of the vehicle;
• emitting the first laser pulse using the LIDAR system coupled to an autonomous vehicle, the first laser pulse being emitted at a first point in time;
• receiving a first signal reflected off of the vehicle on the roadway;
• emitting a second laser pulse using the LIDAR system, the second laser pulse being emitted at a second point in time within the configured time interval;
• receiving a second signal reflected off of the vehicle on the roadway;
• determining a first time of flight information of the first signal;
• determining a second time of flight information of the second signal;
• and
• determining a velocity of the vehicle on the roadway based at least in part on the first time of flight information and the second time of flight information.