Method and system for optimizing scanning of coherent lidar
AssigneeAurora Operations, Inc.
InventorsStephen C. CROUCH, Edward Joseph ANGUS, Michelle MILVICH
Life of this patent
Estimating the term…
Abstract
An apparatus include a motor, a first scanner, and a second scanner. The first scanner is coupled to the motor, and the motor is configured to rotate the first scanner at a first angular velocity about a rotation axis to deflect a first beam incident in a third plane on the first scanner into a first plane different from the third plane. The second scanner is coupled to the motor, and the motor is configured to rotate the second scanner at a second angular velocity different from the first angular velocity about the rotation axis to deflect a second beam incident in the third plane on the second scanner into a second plane different from the third plane.
Claims20
A light detection and ranging (LIDAR) sensor system for a vehicle, comprising:
- a laser source configured to output a beam;
- an optic configured to receive the beam and to direct the beam in a first direction as a first scan beam and to direct the beam in a second direction as a second scan beam;
- a first polygon scanner configured to receive the first scan beam and to scan the first scan beam in a first region, wherein the first polygon scanner has a first mass and is configured to be rotated at a first rotation rate;
- and
- a second polygon scanner configured to receive the second scan beam and to scan the second scan beam in a second region, wherein the second polygon scanner has a second mass and is configured to be rotated at a second rotation rate, and a ratio of the first rotation rate to the second rotation rate is about equal to a ratio of the second mass to the first mass.
An autonomous vehicle control system, comprising:
- a laser source configured to output a beam;
- an optic configured to receive the beam and to direct the beam in a first direction as a first scan beam and to direct the beam in a second direction as a second scan beam;
- a first polygon scanner configured to receive the first scan beam and to scan the first scan beam in a first region, wherein the first polygon scanner has a first mass and is configured to be rotated at a first rotation rate;
- a second polygon scanner configured to receive the second scan beam and to scan the second scan beam in a second region, wherein the second polygon scanner has a second mass and is configured to be rotated at a second rotation rate, and a ratio of the first rotation rate to the second rotation rate is about equal to a ratio of the second mass to the first mass;
- and
- one or more processors configured to:
- receive a return beam from reflection of at least one of the first scan beam or the second scan beam by an object;
- and
- control at least one of a direction or a speed of an autonomous vehicle responsive to the return beam.
An autonomous vehicle, comprising:
- a LIDAR sensor system, comprising:
- a laser source configured to generate a beam;
- an optic configured to direct the beam as a first scan beam and as a second scan beam;
- a first polygon scanner configured to scan the first scan beam in a first region;
- and
- a second polygon scanner configured to scan the second scan beam in a second region, the second polygon scanner configured to be rotated at a rotation rate such that there is no net angular momentum between rotation of the first polygon scanner and rotation of the second polygon scanner;
- a steering system;
- a braking system;
- and
- a vehicle controller comprising one or more processors configured to control at least one of the steering system or the braking system based on a return signal corresponding to at least one of the first beam or the second beam.
Dependencies are inferred from the claim text.