# US 2025/0085384 A1 · Methods and Systems for Vehicle Radar Coordination and Interference Reduction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0085384 A1 - Document ID: US20250085384A1 - Status: Published application - Kind: A1 - Application number: 18/962,459 - Filed: 2024-11-27 - Published: 2025-03-13 - Earliest claimed: 2014-08-28 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Edward Daniel McCloskey; Russell Leigh Smith - Web page: https://patentgrep.com/patent/US20250085384A1 ## CPC - G01S 7/023: {Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques (auxiliary means for detecting or identifying radar signals or the like G01S7/021; means for anti-jamming G01S7/36)} - G01S 7/003: {Transmission of data between radar, sonar or lidar systems and remote stations} - G01S 7/0232: {Avoidance by frequency multiplex} - G01S 7/0233: {Avoidance by phase multiplex} - G01S 7/0234: {Avoidance by code multiplex} - G01S 7/0236: {Avoidance by space multiplex} - G01S 7/4008: {of transmitters} - G01S 13/08: Systems for measuring distance only (indirect measurement G01S13/46) - G01S 13/325: {using transmission of coded signals, e.g. P.S.K. signals} - G01S 13/345: {using triangular modulation} - G01S 13/347: {using more than one modulation frequency} - G01S 13/931: of land vehicles - G01S 15/08: Systems for measuring distance only (indirect measurement G01S15/46) - G01S 15/931: of land vehicles - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/931: of land vehicles - G01S 7/4013: {involving adjustment of the transmitted power} - G01S 13/343: {using sawtooth modulation} - G01S 13/865: {Combination of radar systems with lidar systems} - G01S 13/867: {Combination of radar systems with cameras} - 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 ## Abstract A method is provided that includes a vehicle receiving data from an external computing device indicative of at least one other vehicle in an environment of the vehicle. The vehicle may include a sensor configured to detect the environment of the vehicle. The at least one other vehicle may include at least one sensor. The method also includes determining a likelihood of interference between the at least one sensor of the at least one other vehicle the sensor of the vehicle. The method also includes initiating an adjustment of the sensor to reduce the likelihood of interference between the sensor of the vehicle and the at least one sensor of the at least one other vehicle responsive to the determination. ## Claims ### Claim 1 A method comprising: receiving, at a computing device and using a lidar system, light signals from an environment of a vehicle; based on one or more parameters detected when processing the light signals, determining that the light signals originated from a potentially interfering light source positioned away from the vehicle and a likelihood of interference between the lidar system and the potentially interfering light source; and based on determining that the likelihood of interference exceeds a threshold likelihood, adjusting, by the computing device, operation of the lidar system to reduce interference with the potentially interfering light source. ### Claim 2 (depends on 1) The method of claim 1, further comprising: estimating, based on an angle of arrival of the light signals, a position of the potentially interfering light source relative to the vehicle. ### Claim 3 (depends on 2) The method of claim 2, wherein adjusting operation of the lidar system comprises: adjusting operation of the lidar system based on the estimated position of the potentially interfering light source. ### Claim 4 (depends on 1) The method of claim 1, wherein adjusting operation of the lidar system comprises: causing the lidar system to transition from emitting a first sequence of light pulses to emitting a second sequence of light pulses. ### Claim 5 (depends on 1) The method of claim 1, further comprising: detecting a change in an orientation of the vehicle; and wherein adjusting operation of the lidar system comprises: adjusting operation of the lidar system responsive to detecting the change in the orientation of the vehicle. ### Claim 6 (depends on 1) The method of claim 1, wherein adjusting operation of the lidar system comprises: adjusting a modulation pattern used by the lidar system. ### Claim 7 (depends on 1) The method of claim 1, wherein adjusting operation of the lidar system comprises: causing the lidar system to subsequently operate according to a time offset. ### Claim 8 (depends on 1) The method of claim 1, wherein adjusting operation of the lidar system comprises: causing the lidar system to subsequently operate according to a frequency offset. ### Claim 9 (depends on 1) The method of claim 1, wherein the threshold likelihood of interference depends on the one or more parameters detected when processing the light signals. ### Claim 10 (depends on 1) The method of claim 1, further comprising: determining that the likelihood of interference is below the threshold likelihood; and operating the lidar system without any modifications. ### Claim 11 (depends on 1) The method of claim 1, wherein adjusting operation of the lidar system comprises: switching a detection mode of the lidar system. ### Claim 12 (depends on 1) The method of claim 1, further comprising: estimating a position of the potentially interfering light source relative to the vehicle based on the one or more parameters detected when processing the light signals; and determining that the position of the potentially interfering light source is within a threshold distance from the vehicle; and wherein adjusting operation of the lidar system to reduce interference with the potentially interfering light source comprises: adjusting operation of the lidar system responsive to determining that the position of the potentially interfering light source is within the threshold distance from the vehicle. ### Claim 13 A vehicle comprising: a lidar system; and a computing device in communication with the lidar system, wherein the computing device is configured to: receive, using the lidar system, light signals from an environment of the vehicle; based on one or more parameters detected when processing the light signals, determine that the light signals originated from a potentially interfering light source positioned away from the vehicle and a likelihood of interference between the lidar system and the potentially interfering light source; and based on determining that the likelihood of interference exceeds a threshold likelihood, adjust operation of the lidar system to reduce interference with the potentially interfering light source. ### Claim 14 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: cause the lidar system to transition from emitting a first sequence of light pulses to emitting a second sequence of light pulses. ### Claim 15 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: detect a change in an orientation of the vehicle; and adjust operation of the lidar system responsive to detecting the change in the orientation of the vehicle. ### Claim 16 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: based on one or more parameters of the light signals received from the environment, determine that the light signals originated from a source located external to the lidar system. ### Claim 17 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: estimate, based on an angle of arrival of the light signals, a position of the potentially interfering light source relative to the vehicle; and adjust operation of the lidar system based on the estimated position of the potentially interfering light source. ### Claim 18 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: adjust a modulation pattern or a power level used by the lidar system. ### Claim 19 (depends on 13) The vehicle of claim 13, wherein the computing device is further configured to: cause the lidar system to subsequently operate according to a frequency offset or a time offset. ### Claim 20 A non-transitory computer readable medium configured to store instructions, that when executed by a computing device, cause the computing device to perform operations comprising: receiving, using a lidar system, light signals from an environment of a vehicle; based on one or more parameters detected when processing the light signals, determining that the light signals originated from a potentially interfering light source positioned away from the vehicle and a likelihood of interference between the lidar system and the potentially interfering light source; and based on determining that the likelihood of interference exceeds a threshold likelihood, adjusting operation of the lidar system to reduce interference with the potentially interfering light source.