# US 11,906,623 B1 · Velocity estimation using light detection and ranging (LIDAR) system

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- Number: US 11,906,623 B1
- Document ID: US11906623B1
- Status: Granted
- Kind: B1
- Application number: 18/159,546
- Filed: 2023-01-25
- Granted: 2024-02-20
- Earliest claimed: 2023-01-25
- Assignees: PlusAI, Inc.
- Applicants: PlusAI, Inc.
- Inventors: Ankur Agarwal; Timothy P. Daly, Jr.; Anurag Ganguli
- Web page: https://patentgrep.com/patent/US11906623B1

## CPC

- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- 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 17/87: Combinations of systems using electromagnetic waves other than radio waves
- 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

Techniques are described for determining whether to process a job request. An example, method can include a device emitting a first pulse using a light detection and ranging (LIDAR) system coupled to an autonomous vehicle. The device can receive a first signal reflected off of an object. The device can emit a second pulse using the system, a threshold time interval being configured for the second laser pulse to hit the object in motion. The device can receive a second signal reflected off of the object. The device can determine a first time of flight information of the first signal and a second time of flight information of the second signal. The device can determine a velocity of the object based at least in part on the first time of flight information and the second time of flight information.

## Claims

### Claim 1

A method, comprising:
configuring, by a computing device, 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, by the computing device, the first laser pulse using the LIDAR system, the first laser pulse being emitted at a first point in time;
receiving, by the computing device, a first signal reflected off of the vehicle on the roadway;
emitting, by the computing device, the second laser pulse using the LIDAR system, the second laser pulse being emitted at a second point in time within the configured threshold time interval;
receiving, by the computing device, a second signal reflected off of the vehicle on the roadway;
determining, by the computing device, a first time of flight information of the first signal;
determining, by the computing device, a second time of flight information of the second signal; and
determining, by the computing device, 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.

### Claim 2 (depends on 1)

The method of claim 1, wherein the first laser pulse has a first azimuth, and wherein the second laser pulse has a second azimuth, the second azimuth being the same as the first azimuth.

### Claim 3 (depends on 2)

The method of claim 2, wherein the first laser pulse has a first elevation, and wherein the second laser pulse has a second elevation, the second elevation being the same as the first elevation.

### Claim 4 (depends on 1)

The method of claim 1, wherein determining the velocity of the vehicle on the roadway comprises:
calculating a first distance between the LIDAR system and the vehicle on the roadway based at least in part on the first time of flight information;
calculating a second distance between the LIDAR system and vehicle on the roadway based at least in part on the second time of flight information;
determining a difference between the first point in time and the second point in time to determine a time interval; and
determining the velocity of the vehicle on the roadway based at least in part on the first distance, second distance, and the time interval.

### Claim 5 (depends on 1)

The method of claim 1, wherein the LIDAR system is a stacked LIDAR system comprising a first LIDAR device and a second LIDAR device stacked on the first LIDAR device, wherein the first LIDAR device is configured to emit the first laser pulse having a first elevation using a first laser source, wherein the second LIDAR device is configured to emit the second laser pulse having a second elevation using a second laser source, wherein the first elevation is offset from the second elevation, and wherein the first LIDAR device and the second LIDAR device are phase-delayed.

### Claim 6 (depends on 1)

The method of claim 1, further comprising filtering the first signal and the second signal to remove noise.

### Claim 7 (depends on 1)

The method of claim 1, wherein a difference between the second point in time and the first point in time is less than 2 milliseconds.

### Claim 8

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.

### Claim 9 (depends on 8)

The device of claim 8, wherein the first laser pulse has a first azimuth, and wherein the second laser pulse has a second azimuth, the second azimuth being the same as the first azimuth.

### Claim 10 (depends on 9)

The device of claim 9, wherein the first laser pulse has a first elevation, and wherein the second laser pulse has a second elevation, the second elevation being the same as the first elevation.

### Claim 11 (depends on 8)

The device of claim 8, wherein determining the velocity of the vehicle on the roadway comprises:
calculating a first distance between the LIDAR system and the vehicle on the roadway based at least in part on the first time of flight information;
calculating a second distance between the LIDAR system and the vehicle on the roadway based at least in part on the second time of flight information;
determining a difference between the first point in time and the second point in time to determine a time interval; and
determining the velocity of the object in motion based at least in part on the first distance, second distance, and the time interval.

### Claim 12 (depends on 8)

The device of claim 8, wherein the LIDAR system is a stacked LIDAR system comprising a first LIDAR device and a second LIDAR device stacked on the first LIDAR device, wherein the first LIDAR device is configured to emit the first laser pulse having a first elevation using a first laser source, wherein the second LIDAR device is configured to emit the second laser pulse having a second elevation using a second laser source, wherein the first elevation is offset from the second elevation, and wherein the first LIDAR device and the second LIDAR device are phase-delayed.

### Claim 13 (depends on 8)

The device of claim 8, wherein the instructions that, when executed by the processor, further cause the processor to perform operations comprising filtering the first signal and the second signal to remove noise.

### Claim 14 (depends on 8)

The device of claim 8, wherein a difference between the second point in time and the first point in time is less than 2 milliseconds.

### Claim 15

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.

### Claim 16 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the first laser pulse has a first azimuth, and wherein the second laser pulse has a second azimuth, the second azimuth being the same as the first azimuth.

### Claim 17 (depends on 16)

The non-transitory computer-readable medium of claim 16, wherein the first laser pulse has a first elevation, and wherein the second laser pulse has a second elevation, the second elevation being the same as the first elevation.

### Claim 18 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein determining the velocity of the vehicle on the roadway comprises:
calculating a first distance between the LIDAR system and the vehicle on the roadway based at least in part on the first time of flight information;
calculating a second distance between the LIDAR system and the vehicle on the roadway based at least in part on the second time of flight information;
determining a difference between the first point in time and the second point in time to determine a time interval; and
determining the velocity of the vehicle on the roadway based at least in part on the first distance, second distance, and the time interval.

### Claim 19 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein the LIDAR system is a stacked LIDAR system comprising a first LIDAR device and a second LIDAR device stacked on the first LIDAR device, wherein the first LIDAR device is configured to emit the first laser pulse having a first elevation using a first laser source, wherein the second LIDAR device is configured to emit the second laser pulse having a second elevation using a second laser source, wherein the first elevation is offset from the second elevation, and wherein the first LIDAR device and the second LIDAR device are phase-delayed.

### Claim 20 (depends on 15)

The non-transitory computer-readable medium of claim 15, wherein a difference between the second point in time and the first point in time is less than 2 milliseconds.