Multi-channel light detection and ranging (LIDAR) unit having a telecentric lens assembly and single circuit board for emitters and detectors

An autonomous vehicle, comprising:

• a light detection and ranging (LIDAR) system comprising:
• a plurality of emitters disposed on a first portion of a circuit board, the plurality of emitters respectively configured to emit a laser beam;
• a first optical element assembly configured to receive the laser beam, wherein the first optical element assembly comprises a first field flattening optical element;
• a second optical element assembly configured to receive a plurality of reflected laser beams, wherein the second optical element assembly comprises a second field flattening optical element, the first field flattening optical element being thinner than the second field flattening optical element;
• and
• a plurality of detectors disposed on a second portion of the circuit board, spaced apart from the plurality of emitters in a first direction, the plurality of detectors respectively configured to receive the plurality of reflected laser beams by way of the second optical element assembly,
• wherein at least one of the plurality of emitters comprises:
• a laser diode configured to emit the laser beam parallel to the circuit board in the first direction;
• and
• a collimation optical element configured to reflect the laser beam towards the first optical element assembly;
• and
• one or more processors configured to control an operation of the autonomous vehicle based on information associated with the plurality of reflected laser beams.

An autonomous vehicle control system, comprising:

• a light detection and ranging (LIDAR) system comprising:
• a plurality of emitters disposed on a first portion of a circuit board, the plurality of emitters respectively configured to emit a laser beam;
• a first optical element assembly configured to receive the laser beam, wherein the first optical element assembly comprises a first field flattening optical element;
• a second optical element assembly configured to receive a plurality of reflected laser beams, wherein the second optical element assembly comprises a second field flattening optical element, the first field flattening optical element being thinner than the second field flattening optical element;
• and
• a plurality of detectors disposed on a second portion of the circuit board, spaced apart from the plurality of emitters in a first direction, the plurality of detectors respectively configured to receive the plurality of reflected laser beams by way of the second optical element assembly,
• wherein at least one of the plurality of emitters comprises:
• a laser diode configured to emit the laser beam parallel to the circuit board in the first direction;
• and
• a collimation optical element configured to reflect the laser beam towards the first optical element assembly;
• and
• one or more processors configured to control an operation of a vehicle system based on information associated with the plurality of reflected laser beams.