LIDAR waveform calibration system

An autonomous vehicle control system comprising:

• a light detection and ranging (LIDAR) system including:
• a laser configured to generate a laser beam based on a particular laser waveform that is associated with at least one parameter of a plurality of parameters, the at least one parameter defining at least one of shape or linearity of the particular laser waveform;
• and
• a calibration unit configured to, based on an output frequency of the laser beam, determine a particular value for the at least one parameter of the plurality of parameters to compensate for distortion characteristics of the laser,
• wherein determining the particular value for the at least one parameter comprises minimizing a value of a merit function, the merit function depending on the at least one parameter and quantifying at least one of linearity or shape of the particular laser waveform,
• wherein the calibration unit is further configured to update the particular laser waveform with the particular value of the at least one parameter of the plurality of parameters;
• and
• one or more processors to control the autonomous vehicle control system in response to the particular laser waveform at least partially updated by the calibration unit.

An autonomous vehicle comprising:

• a light detection and ranging (LIDAR) system including:
• a laser configured to generate a laser beam based on a particular laser waveform that is associated with at least one parameter of a plurality of parameters, the at least one parameter defining at least one of shape or linearity of the particular laser waveform;
• and
• a calibration unit configured to, based on an output frequency of the laser beam, determine a particular value for the at least one parameter of the plurality of parameters to compensate for distortion characteristics of the laser,
• wherein determining the particular value for the at least one parameter comprises minimizing a value of a merit function, the merit function depending on the at least one parameter and quantifying at least one of linearity or shape of the particular laser waveform,
• wherein the calibration unit is further configured to update the particular laser waveform with the particular value of the at least one parameter of the plurality of parameters;
• and
• one or more processors to control the autonomous vehicle in response to the particular laser waveform at least partially updated by the calibration unit.