# US 2021/0333361 A1 · Long Range Steerable LIDAR System > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333361 A1 - Document ID: US20210333361A1 - Status: Published application - Kind: A1 - Application number: 17/366,768 - Filed: 2021-07-02 - Published: 2021-10-28 - Earliest claimed: 2015-04-06 - Assignees: Waymo LLC - Applicants: Waymo, LLC - Inventors: Pierre-yves Droz; Gaetan Pennecot; Anthony Levandowski; Drew Eugene Ulrich; Zach Morriss; Luke Wachter; Dorel Ionut Iordache; William McCann; Daniel Gruver; Bernard Fidric; Samuel William Lenius - Web page: https://patentgrep.com/patent/US20210333361A1 ## CPC - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/4817: {relating to scanning} - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/931: of land vehicles - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93272: {in the back of the vehicles} - G01S 2013/93273: {on the top of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - 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 ## Abstract Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV. ## Claims ### Claim 1 A system comprising: a light detection and ranging (LIDAR) device configured to detect an object, wherein the LIDAR device comprises: a light source configured to emit light; and a plurality of detectors; a further sensor configured to identify additional information relating to the object based on a difference in at least one of color, brightness, and reflectivity of a surface; and a controller configured to: receive target or directional information based on information received from the LIDAR device; in response to receiving the target or directional information, cause an adjustment to the pointing direction of the further sensor. ### Claim 2 (depends on 1) The system of claim 1 wherein the further sensor comprises at least one of a LIDAR device, a RADAR device, a laser rangefinder, an acoustic sensor, and a camera. ### Claim 3 (depends on 2) The system of claim 2 wherein the LIDAR device has a first scanning resolution and the further sensor has a second scanning resolution higher than the first scanning resolution. ### Claim 4 (depends on 1) The system of claim 1 wherein the surface is a surface of the object. ### Claim 5 (depends on 1) The system of claim 1 wherein the additional information comprises a location of a lane line proximate the object. ### Claim 6 (depends on 1) The system of claim 1 wherein the object is a sign and the additional information is information displayed on the sign. ### Claim 7 (depends on 1) The system of claim 1 wherein the object is a vehicle and the additional information is a state of a turn signal of the vehicle. ### Claim 8 (depends on 1) The system of claim 1 wherein the object is a vehicle and the additional information is a speed of the vehicle relative to the system. ### Claim 9 (depends on 1) The system of claim 1 further comprising: a housing, wherein at least the scanning portion is disposed within the housing, and wherein a wall of the housing comprises a light filter configured to allow the emitted light to propagate through the light filter; and a rotational mount configured to rotate at least a portion of the LIDAR device about a second axis. ### Claim 10 (depends on 9) The system of claim 9 wherein the housing is positioned at a top side of a vehicle, wherein the second axis comprises an axis passing through the top side of the vehicle, and wherein the rotational mount is configured to rotate within a 360 degree range of motion about the second axis. ### Claim 11 (depends on 9) The system of claim 9 wherein at least a portion of the further sensor is disposed within the housing. ### Claim 12 (depends on 1) The system of claim 1 wherein causing the adjustment to the pointing direction of the further sensor comprises adjusting the pointing direction of the further sensor relative to a mount of the further sensor. ### Claim 13 A system comprising: a vehicle; a light detection and ranging (LIDAR) device configured detect an object in an environment around the vehicle, wherein the LIDAR device is coupled to the vehicle; and a further sensor configured to identify information displayed by the object; and a controller configured to: receive target or directional information based on information received from the LIDAR device; in response to receiving the target or directional information, cause an adjustment to the pointing direction of the further sensor. ### Claim 14 (depends on 13) The system of claim 13 wherein the further sensor comprises at least one of a LIDAR device, a RADAR device, a laser rangefinder, an acoustic sensor, and a camera. ### Claim 15 (depends on 13) The system of claim 13 wherein the object is a sign. ### Claim 16 (depends on 13) The system of claim 13 wherein the object is a road and the information displayed by the object is a lane line. ### Claim 17 (depends on 13) The system of claim 13 wherein at least a scanning portion of the LIDAR device is disposed within a housing, wherein the housing is positioned at a top side of the vehicle, wherein a second axis comprises an axis passing through the top side of the vehicle, and wherein a rotational mount is configured to rotate at least a portion of the LIDAR device within a 360 degree range of motion about the second axis. ### Claim 18 (depends on 17) The system of claim 17 wherein the housing comprises a light filter, wherein the light filter has a dome shape, and wherein the light filter is configured to attenuate visible light propagating into the housing. ### Claim 19 (depends on 17) The system of claim 17 wherein at least a portion of the further sensor device is disposed within the housing. ### Claim 20 (depends on 13) The system of claim 13 wherein the target or directional information is further indicative of at least one of: a type of object, a size of an object, a shape of an object, a position, a location, or an angle range.