System and method for differential comparator-based time-of-flight measurement with amplitude estimation

A method, comprising:

• generating, with a signal delay component, based on a LiDAR output signal including an analog waveform, a time-delayed LiDAR output signal including a time-delayed analog waveform;
• generating, with a differential comparator, based on the LiDAR output signal including the analog waveform and the time-delayed LiDAR output signal including the time-delayed analog waveform, a digital output signal;
• and
• generating, with at least one processor, LiDAR data including a distance associated with the LiDAR output signal and an amplitude associated with the LiDAR output signal, the distance being based on a first time associated with a rising edge of the digital output signal, and the amplitude being based on a time difference between the first time and a second time associated with a falling edge of the digital output signal.

A system implemented in an autonomous vehicle, comprising:

• a LiDAR system configured to generate a LiDAR output signal including an analog waveform;
• a signal delay component configured to:
• receive, at a delay input, the LiDAR output signal including the analog waveform, and provide, at a delay output, a time-delayed LiDAR output signal including a time-delayed analog waveform;
• a differential comparator configured to:
• receive, at a first comparator input, the LiDAR output signal including the analog waveform, receive, at a second comparator input, the time-delayed LiDAR output signal including the time-delayed analog waveform, and provide, at a comparator output, a digital output signal;
• and
• at least one processor configured to:
• generate LiDAR data including a distance associated with the LiDAR output signal and an amplitude associated with the LiDAR output signal, the distance being based on a first time associated with a rising edge of the digital output signal, and the amplitude being based on a time difference between the first time and a second time associated with a falling edge of the digital output signal;
• detect, based on the LiDAR data, an object in an environment surrounding the autonomous vehicle;
• and
• issue, based on the detected object, a command to control at least one autonomous driving operation of the autonomous vehicle.