# US 12,216,210 B2 · Multi-channel light detection and ranging (LIDAR) unit having a telecentric lens assembly and single circuit board for emitters and detectors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,210 B2 - Document ID: US12216210B2 - Status: Granted - Kind: B2 - Application number: 18/313,777 - Filed: 2023-05-08 - Published: 2023-10-12 - Granted: 2025-02-04 - Earliest claimed: 2020-07-31 - Assignees: Aurora Operations, Inc. - Applicants: Aurora Operations, Inc. - Inventors: James Allen Haslim; Michael Bryan Borden; Daniel Thomas Sing - Web page: https://patentgrep.com/patent/US12216210B2 ## CPC - G01S 17/931: of land vehicles - G01S 7/4813: {Housing arrangements} - G01S 7/4814: {of transmitters alone} - G01S 7/4815: {using multiple transmitters} - G01S 7/4816: {of receivers alone} - G01S 7/4817: {relating to scanning} - G01S 17/06: Systems determining position data of a target - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G02B 26/123: {Multibeam scanners, e.g. using multiple light sources or beam splitters} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0238: {using obstacle or wall sensors (G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93)} - G05D 1/628: following the obstacle profile, e.g. a wall or undulated terrain - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G01S 2013/9316: {combined with communication equipment with other vehicles or with base stations} - 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 - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A LIDAR unit includes a housing defining a cavity. The LIDAR unit further include a plurality of emitters disposed on a circuit board within the cavity. Each of the emitters emits a laser beam along a transmit path. The LIDAR system further includes a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly. The LIDAR further includes a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly. The first telecentric lens assembly and the second telecentric lens assembly each include a field flattening lens and at least one other lens. ## Claims ### Claim 1 A light detection and ranging (LIDAR) system for a vehicle, 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 through 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. ### Claim 2 (depends on 1) The LIDAR system of claim 1, wherein: the first optical element assembly comprises at least one other first optical element, the first field flattening optical element being positioned between the plurality of emitters and the at least one other first optical element; and the second optical element assembly comprises at least one other second optical element, the second field flattening optical element being positioned between the plurality of detectors and the at least one other second optical element. ### Claim 3 (depends on 2) The LIDAR system of claim 2, further comprising: a housing defining a cavity; and an optical filter disposed within the cavity between the plurality of detectors and the second field flattening optical element. ### Claim 4 (depends on 3) The LIDAR system of claim 3, wherein the optical filter comprises a bandpass filter. ### Claim 5 (depends on 3) The LIDAR system of claim 3, wherein the plurality of reflected laser beams exits the second field flattening optical element in a direction substantially perpendicular to a surface of the optical filter. ### Claim 6 (depends on 5) The LIDAR system of claim 5, wherein an acceptance angle of the optical filter is between 1.6 degrees and 2.4 degrees. ### Claim 7 (depends on 1) The LIDAR system of claim 1, wherein the plurality of detectors are spaced apart from the plurality of emitters in the first direction by a distance corresponding to a thickness of the second optical element assembly. ### Claim 8 (depends on 1) The LIDAR system of claim 1, further comprising a housing defining a cavity, wherein the circuit board is positioned in the cavity and the housing includes a partition wall dividing the cavity into a first portion in which the first optical element assembly is positioned and a second portion in which the second optical element assembly is positioned. ### Claim 9 (depends on 1) The LIDAR system of claim 1, wherein the first optical element assembly is different from the second optical element assembly. ### Claim 10 (depends on 1) The LIDAR system of claim 1, wherein at least one of the plurality of detectors comprises an avalanche photodiode. ### Claim 11 (depends on 1) The LIDAR system of claim 1, wherein: the first field flattening optical element has a thickness of about 3 millimeters; and the second field flattening optical element has a thickness of about 4 millimeters. ### Claim 12 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. ### Claim 13 (depends on 12) The autonomous vehicle of claim 12, wherein: the first optical element assembly comprises at least one other first optical element, the first field flattening optical element being positioned between the plurality of emitters and the at least one other first optical element, and the second optical element assembly comprises at least one other second optical element, the second field flattening optical element being positioned between the plurality of detectors and the at least one other second optical element. ### Claim 14 (depends on 13) The autonomous vehicle of claim 13, wherein the LIDAR system further comprises: a housing defining a cavity; and an optical filter disposed within the cavity between the plurality of detectors and the second field flattening optical element. ### Claim 15 (depends on 12) The autonomous vehicle of claim 12, wherein a surface of the circuit board on which the plurality of emitters are disposed is substantially flat. ### Claim 16 (depends on 12) The autonomous vehicle of claim 12, wherein at least one of the plurality of detectors comprises an avalanche photodiode. ### Claim 17 (depends on 12) The autonomous vehicle of claim 12, wherein: the LIDAR system further comprises a housing defining a cavity, the circuit board is positioned in the cavity, and the housing includes a partition wall dividing the cavity into a first portion in which the first optical element assembly is positioned and a second portion in which the second optical element assembly is positioned. ### Claim 18 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.