# US 12,007,484 B2 · Vehicular driving assist system with lidar sensors that emit light at different pulse rates > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,484 B2 - Document ID: US12007484B2 - Status: Granted - Kind: B2 - Application number: 17/931,195 - Filed: 2022-09-12 - Published: 2023-01-05 - Granted: 2024-06-11 - Earliest claimed: 2017-11-21 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Peter Nicke; Benjamin May - Web page: https://patentgrep.com/patent/US12007484B2 ## CPC - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G06T 2207/10028: Range image; Depth image; 3D point clouds - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A vehicular driving assist system includes a plurality of lidar sensors having respective fields of sensing exterior the vehicle. The lidar sensors emit light pulsed at a respective pulse rate and provide a respective output to an electronic control unit based on sensed light that is reflected by objects present in the field of sensing of the respective lidar sensor. The pulse rates of light emitted by the lidar sensors are different. The vehicular driving assist system, via processing at the ECU of the outputs from the lidar sensors, generates a three dimensional (3D) point cloud. The vehicular driving assist system controls the vehicle based at least in part on light sensed by the lidar sensors that is reflected by the objects when light is emitted by the lidar sensors at the respective pulse rates. ## Claims ### Claim 1 A vehicular driving assist system, the vehicular driving assist system comprising: a plurality of lidar sensors disposed at a vehicle equipped with the vehicular driving assist system, wherein the plurality of lidar sensors comprises at least (i) a first lidar sensor having a first field of sensing exterior the equipped vehicle and (ii) a second lidar sensor having a second field of sensing exterior the equipped vehicle; an electronic control unit (ECU) including a data processor; wherein the first lidar sensor emits light pulsed at a first pulse rate and provides a first output based on sensed light that is reflected by objects present in the first field of sensing of the first lidar sensor when light is emitted by the first lidar sensor at the first pulse rate; wherein the second lidar sensor emits light pulsed at a second pulse rate and provides a second output based on sensed light that is reflected by objects present in the second field of sensing of the second lidar sensor when light is emitted by the second lidar sensor at the second pulse rate; wherein the second pulse rate is different than the first pulse rate; wherein the vehicular driving assist system, via processing at the ECU of the first output from the first lidar sensor and the second output from the second lidar sensor, generates a three dimensional (3D) point cloud based at least in part on the difference between the first pulse rate and the second pulse rate; and wherein the vehicular driving assist system controls the equipped vehicle based at least in part on the generated 3D point cloud. ### Claim 2 (depends on 1) The vehicular driving assist system of claim 1, wherein the first lidar sensor is disposed at a front grille of the equipped vehicle. ### Claim 3 (depends on 1) The vehicular driving assist system of claim 1, wherein the first lidar sensor is disposed at a headlight of the equipped vehicle. ### Claim 4 (depends on 1) The vehicular driving assist system of claim 1, wherein the first lidar sensor is disposed at an exterior rearview mirror assembly of the equipped vehicle. ### Claim 5 (depends on 1) The vehicular driving assist system of claim 1, wherein at least one of the objects comprises a target. ### Claim 6 (depends on 1) The vehicular driving assist system of claim 1, wherein the first lidar sensor comprises (i) a first light emitting unit that emits light at the first pulse rate and (ii) a first sensor unit that senses light reflected by the objects present in the first field of sensing of the first lidar sensor, and wherein the second lidar sensor comprises (i) a second light emitting unit that emits light at the second pulse rate and (ii) a second sensor unit that senses light reflected by the objects present in the second field of sensing of the second lidar sensor. ### Claim 7 (depends on 6) The vehicular driving assist system of claim 6, wherein the first sensor unit senses light that is emitted at the first pulse rate by the first light emitting unit and that is reflected by the objects present in the first field of sensing of the first lidar sensor, and wherein the second sensor unit senses light that is emitted at the second pulse rate by the second light emitting unit and that is reflected by the objects present in the second field of sensing of the second lidar sensor. ### Claim 8 (depends on 1) The vehicular driving assist system of claim 1, wherein the vehicular driving assist system, via processing at the ECU of the first output of the first lidar sensor and the second output from the second lidar sensor, determines a difference between light emitted by the first lidar sensor at the first pulse rate and light emitted by the second lidar sensor at the second pulse rate. ### Claim 9 (depends on 8) The vehicular driving assist system of claim 8, wherein the vehicular driving assist system, via processing at the ECU of the first output of the first lidar sensor and the second output from the second lidar sensor, spatially synchronizes the first output and the second output based at least in part on a difference of light emitted by the first lidar sensor and light emitted by the second lidar sensor. ### Claim 10 (depends on 8) The vehicular driving assist system of claim 8, wherein the vehicular driving assist system, based at least in part on the a difference of light emitted by the first lidar sensor and light emitted by the second lidar sensor, determines a first alignment marker formed by a transition of a non-overlap region of the first field of sensing to an overlap region of the first and second fields of sensing. ### Claim 11 (depends on 10) The vehicular driving assist system of claim 10, wherein the vehicular driving assist system, based at least in part on the difference of light emitted by the first lidar sensor and light emitted by the second lidar sensor, determines a second alignment marker formed by a transition of a non-overlap region of the second field of sensing to the overlap region of the first and second fields of sensing. ### Claim 12 (depends on 11) The vehicular driving assist system of claim 11, wherein the vehicular driving assist system senses within a combined field of sensing via processing at the ECU of the first and second outputs and the first and second alignment markers. ### Claim 13 (depends on 12) The vehicular driving assist system of claim 12, wherein the vehicular driving assist system determines mismatches of the first and second alignment markers within the combined field of sensing. ### Claim 14 (depends on 1) The vehicular driving assist system of claim 1, comprising a third lidar sensor. ### Claim 15 (depends on 14) The vehicular driving assist system of claim 14, wherein each of the first lidar sensor, the second lidar sensor and the third lidar sensor has a respective field of sensing greater than 120 degrees. ### Claim 16 (depends on 1) The vehicular driving assist system of claim 1, wherein the first field of sensing of the first lidar sensor partially overlaps the second field of sensing of the second lidar sensor at an overlap region. ### Claim 17 (depends on 16) The vehicular driving assist system of claim 16, wherein at least one of the objects is present in the overlap region. ### Claim 18 (depends on 16) The vehicular driving assist system of claim 16, wherein the first field of sensing of the first lidar sensor partially overlaps the second field of sensing of the second lidar sensor by an amount that accommodates mounting tolerances of the first lidar sensor and the second lidar sensor. ### Claim 19 A vehicular driving assist system, the vehicular driving assist system comprising: a plurality of lidar sensors disposed at a vehicle equipped with the vehicular driving assist system, wherein the plurality of lidar sensors comprises at least (i) a first lidar sensor having a first field of sensing at least forward of the equipped vehicle and (ii) a second lidar sensor having a second field of sensing at least forward of the equipped vehicle; an electronic control unit (ECU) including a data processor; wherein the first lidar sensor comprises (i) a first light emitting unit that emits light at a first pulse rate and (ii) a first sensor unit that senses light that is emitted at the first pulse rate by the first light emitting unit and that is reflected by objects present in the first field of sensing of the first lidar sensor; wherein the first lidar sensor provides a first output based on sensed light that is emitted at the first pulse rate by the first light emitting unit and that is reflected by the objects present in the first field of sensing of the first lidar sensor when light is emitted by the first lidar sensor at the first pulse rate; wherein the second lidar sensor comprises (i) a second light emitting unit that emits light at a second pulse rate and (ii) a second sensor unit that senses light that is emitted at the second pulse rate by the second light emitting unit and that is reflected by objects present in the second field of sensing of the second lidar sensor when light is emitted by the second lidar sensor at the second pulse rate; wherein the second lidar sensor provides a second output based on sensed light that is emitted at the second pulse rate by the second light emitting unit and that is reflected by the objects present in the second field of sensing of the second lidar sensor; wherein the second pulse rate is different than the first pulse rate; wherein the vehicular driving assist system, via processing at the ECU of the first output from the first lidar sensor and the second output from the second lidar sensor, generates a three dimensional (3D) point cloud based at least in part on the difference between the first pulse rate and the second pulse rate; and wherein the vehicular driving assist system controls the equipped vehicle based at least in part on the generated 3D point cloud. ### Claim 20 (depends on 19) The vehicular driving assist system of claim 19, wherein the first lidar sensor is disposed at a front grille of the equipped vehicle. ### Claim 21 (depends on 19) The vehicular driving assist system of claim 19, wherein the first lidar sensor is disposed at a headlight of the equipped vehicle. ### Claim 22 (depends on 19) The vehicular driving assist system of claim 19, wherein at least one of the objects comprises a target. ### Claim 23 (depends on 19) The vehicular driving assist system of claim 19, wherein the first field of sensing of the first lidar sensor partially overlaps the second field of sensing of the second lidar sensor at an overlap region. ### Claim 24 (depends on 23) The vehicular driving assist system of claim 23, wherein at least one of the objects is present in the overlap region. ### Claim 25 A vehicular driving assist system, the vehicular driving assist system comprising: a plurality of lidar sensors disposed at a vehicle equipped with the vehicular driving assist system, wherein the plurality of lidar sensors comprises at least (i) a first lidar sensor having a first field of sensing exterior the equipped vehicle, (ii) a second lidar sensor having a second field of sensing exterior the equipped vehicle and (iii) a third lidar sensor having a third field of sensing exterior the equipped vehicle; an electronic control unit (ECU) including a data processor; wherein the first lidar sensor emits light pulsed at a first pulse rate and provides a first output based on sensed light that is emitted by the first lidar sensor and that is reflected by objects present in the first field of sensing of the first lidar sensor when light is emitted by the first lidar sensor at the first pulse rate; wherein the second lidar sensor emits light pulsed at a second pulse rate and provides a second output based on sensed light that is emitted by the second lidar sensor and that is reflected by objects present in the second field of sensing of the second lidar sensor when light is emitted by the second lidar sensor at the second pulse rate; wherein the second pulse rate is different than the first pulse rate; wherein the third lidar sensor emits light pulsed at a third pulse rate and provides a third output based on sensed light that is emitted by the third lidar sensor and that is reflected by objects present in the third field of sensing of the third lidar sensor when light is emitted by the third lidar sensor at the third pulse rate; wherein the third pulse rate is different than the first pulse rate, and wherein the third pulse rate is different than the second pulse rate; wherein the vehicular driving assist system, via processing at the ECU of the first output from the first lidar sensor, the second output from the second lidar sensor and the third output from the third lidar sensor, generates a three dimensional (3D) point cloud based at least in part on (i) the difference between the first pulse rate and the second pulse rate and (ii) the difference between the second pulse rate and the third pulse rate; and wherein the vehicular driving assist system controls the generated 3D point cloud. ### Claim 26 (depends on 25) The vehicular driving assist system of claim 25, wherein the first lidar sensor is disposed at a front grille of the equipped vehicle. ### Claim 27 (depends on 25) The vehicular driving assist system of claim 25, wherein the first lidar sensor is disposed at a headlight of the equipped vehicle. ### Claim 28 (depends on 25) The vehicular driving assist system of claim 25, wherein the first lidar sensor is disposed at an exterior rearview mirror assembly of the equipped vehicle. ### Claim 29 (depends on 25) The vehicular driving assist system of claim 25, wherein at least one of the objects comprises a target. ### Claim 30 (depends on 25) The vehicular driving assist system of claim 25, wherein each of the first lidar sensor, the second lidar sensor and the third lidar sensor has a respective field of sensing greater than 120 degrees.