# US 11,994,590 B2 · High dynamic range lidar > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,994,590 B2 - Document ID: US11994590B2 - Status: Granted - Kind: B2 - Application number: 16/598,020 - Filed: 2019-10-10 - Published: 2021-04-15 - Granted: 2024-05-28 - Earliest claimed: 2019-10-10 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Nathaniel W. Hart; Adam L. Wright - Web page: https://patentgrep.com/patent/US11994590B2 ## CPC - G01S 17/93: for anti-collision purposes - G01S 17/931: of land vehicles - G01S 7/4863: Detector arrays, e.g. charge-transfer gates - G01S 7/4868: {Controlling received signal intensity or exposure of sensor} - G01S 7/487: Extracting wanted echo signals {, e.g. pulse detection} - G01S 17/89: for mapping or imaging - 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 Systems and method are provided for controlling a vehicle. In one embodiment, a method includes: receiving, by the controller, first return data detected by a first detector of a lidar device as a result of a first laser pulse or chirp; receiving, by the controller, second return data detected by a second detector of the lidar device as a result of a second laser pulse or chirp; combining, by the controller, the first return data and the second return data to form a point cloud; and controlling, by the controller, the vehicle based on the point cloud. ## Claims ### Claim 1 A method of controlling a vehicle, the method comprising: initiating, by a controller onboard the vehicle, a first laser pulse or chirp from a lidar device based on a first power; initiating, by the controller, a second laser pulse or chirp from the lidar device based on a second power, wherein the first power is greater than the second power, a first return data is a result of the first laser pulse or chirp, and a second return data is a result of the second laser pulse or chirp; receiving, by the controller, the first return data detected by a first detector of the lidar device as the result of the first laser pulse or chirp associated with a first distance range; receiving, by the controller, the second return data detected by a second detector of the lidar device as the result of the second laser pulse or chirp associated with a second distance range, wherein the first distance range is greater than the second distance range; removing short range noise from a long range waveform of the first return data by combining, by the controller, the long range waveform of the first return data and a short range waveform of the second return data to generate a combined waveform; forming a point cloud including a three-dimensional cloud of points based on the combined waveform; and controlling, by the controller, the vehicle based on the point cloud, wherein the lidar device is configured to horizontally and rotatably scan an environment in a vicinity of the vehicle in accordance with a first angular velocity at a first scan rate to complete a first revolution and the first and second detectors are spaced laterally apart based on the first scan rate, wherein the first detector is configured to process the first return data associated with the first distance range and the first return data is reflected from the first laser pulse or chirp based on the first power that is greater than 75 W and less than a 5 ns width, and wherein the second detector is configured to process the second return data associated with the second distance range and the second return data is reflected from the second laser pulse or chirp based on the second power that is less than 10 W at a 5 ns width. ### Claim 2 (depends on 1) The method of claim 1, further comprising determining a distance measurement based on the combined waveform. ### Claim 3 (depends on 1) The method of claim 1, wherein the first laser pulse or chirp is the same laser pulse or chirp as the second laser pulse or chirp. ### Claim 4 (depends on 1) The method of claim 1, wherein the first detector of the lidar device and the second detector of the lidar device are adjacent to each other on the lidar device. ### Claim 5 (depends on 1) The method of claim 1, wherein the first detector is configured to have a first sensitivity, wherein the second detector is configured to have a second sensitivity, wherein the first sensitivity is greater than the second sensitivity. ### Claim 6 (depends on 1) The method of claim 1, wherein the first return data and the second return data are associated with a same object. ### Claim 7 (depends on 1) The method of claim 1, wherein the first return data includes a first point measurement, and wherein the second return data includes a second point measurement. ### Claim 8 (depends on 1) The method of claim 1, wherein the first return data and the second return data are a result of the first laser pulse or chirp and the second laser pulse or chirp, respectively, the first laser pulse or chirp and the second laser pulse or chirp being consecutive laser pulses or chirps. ### Claim 9 A system for controlling a vehicle, comprising: a lidar device; and a controller configured to, by a processor, to: initiate a first laser pulse or chirp from the lidar device based on a first power; initiate a second laser pulse or chirp from the lidar device based on a second power, wherein the first power is greater than the second power, a first return data is a result of the first laser pulse or chirp, and a second return data is a result of the second laser pulse or chirp; receive, the first return data detected by a first detector of the lidar device as the result of the first laser pulse or chirp associated with a first distance range; receive the second return data detected by a second detector of the lidar device as the result of the second laser pulse or chirp associated with a second distance range, wherein the first distance range is greater than the second distance range; remove short range noise from a long range waveform of the first return data by combining the long range waveform of the first return data and a short range waveform of the second return data to generate a combined waveform; form a point cloud including a three-dimensional cloud of points based on the combined waveform; and control the vehicle based on the point cloud, wherein the lidar device is configured to horizontally and rotatably scan an environment in a vicinity of the vehicle in accordance with a first angular velocity at a first scan rate to complete a first revolution and the first and second detectors are spaced laterally apart based on the first scan rate, wherein the first detector is configured to process the first return data associated with the first distance range and the first return data is reflected from the first laser pulse or chirp based on the first power that is greater than 75 W and less than a 5 ns width, and wherein the second detector is configured to process the second return data associated with the second distance range and the second return data is reflected from the second laser pulse or chirp based on the second power that is less than 10 W at a 5 ns width. ### Claim 10 (depends on 9) The system of claim 9, wherein the controller is configured to determine a distance measurement based on the combined waveform. ### Claim 11 (depends on 9) The system of claim 9, wherein the first laser pulse or chirp is the same laser pulse or chirp as the second laser pulse or chirp. ### Claim 12 (depends on 9) The system of claim 9, wherein the first detector of the lidar device and the second detector of the lidar device are adjacent to each other on the lidar device. ### Claim 13 (depends on 9) The system of claim 9, wherein the first detector is configured to have a first sensitivity, wherein the second detector is configured to have a second sensitivity, wherein the first sensitivity is greater than the second sensitivity. ### Claim 14 (depends on 9) The system of claim 9, wherein the first return data and the second return data are associated with a same object. ### Claim 15 (depends on 9) The system of claim 9, wherein the first return data includes a first point measurement, and wherein the second return data includes a second point measurement. ### Claim 16 (depends on 9) The system of claim 9, wherein the first return data and the second return data are a result of the first laser pulse or chirp and the second laser pulse or chirp, respectively, the first laser pulse or chirp and the second laser pulse or chirp being consecutive laser pulses or chirps. ### Claim 17 (depends on 1) The method of claim 1, wherein a pulse rate of the first laser pulse and the second laser pulse is 100,000 Hz and the first scan rate is 10 Hz, an azimuth scan between consecutive first and second laser pulses is 0.036 degrees and a detector spacing associated with the first and second detectors is 0.036 degrees. ### Claim 18 (depends on 9) The system of claim 9, wherein a pulse rate of the first laser pulse and the second laser pulse is 100,000 Hz and the first scan rate is 10 Hz, an azimuth scan between consecutive first and second laser pulses is 0.036 degrees and a detector spacing associated with the first and second detectors is 0.036 degrees.