Wide-view LIDAR with areas of special attention

A method comprising:

• scanning a light detection and ranging (LIDAR) device through a range of orientations directed to at least a portion of a scanning zone at a first angular rate of change while emitting light pulses from the LIDAR device;
• receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device while scanned at the first angular rate of change;
• determining a three-dimensional (3-D) point map of the scanning zone based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device;
• analyzing the determined 3-D point map to identify a region of the scanning zone indicated to include features organized with relatively high spatial or temporal frequencies;
• scanning the LIDAR device through orientations directed to the identified region of the scanning zone at a second angular rate of change different from the first angular rate of change while emitting light pulses from the LIDAR device;
• receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device while scanned at the second angular rate of change;
• determining a mixed resolution 3-D point map of the scanning zone based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device such that the angular resolution of the mixed resolution 3-D point map, with respect to the LIDAR device, is based on the second angular rate of change in the identified region and is based on the first angular rate of change in one or more regions of the scanning zone other than the identified region;
• analyzing the mixed resolution 3-D point map to identify obstacles in the scanning zone interfering with a current path of an autonomous vehicle associated with the LIDAR device;
• determining a modified path of the autonomous vehicle that avoids the identified obstacles than the current path;
• and
• causing the autonomous vehicle to navigate along the modified path.

An autonomous vehicle system comprising:

• a light detection and ranging (LIDAR) device including:
• a light source configured to be scanned through a range of orientations directed to a scanning zone while emitting light pulses;
• and
• a light detector configured to receive returning light pulses reflected from features in the scanning zone, if any, each of the returning light pulses corresponding to an emitted light pulse;
• and
• a controller configured to:
• cause the LIDAR device to scan a first region of the scanning zone while emitting light pulses at a first pulse rate and scan a second region of the scanning zone while emitting light pulses at a second pulse rate different from the first pulse rate;
• receive information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses;
• determine, based on the time delays and orientations of the LIDAR device associated with each time delay, a three dimensional (3-D) point map, wherein the angular resolution of the 3-D point map, with respect to the LIDAR device, is based on the first pulse rate in the first region and is based on the second pulse rate in the second region;
• adjust the pulse rate of the LIDAR device throughout the scanning zone according to real-time analysis of the returning light pulses such that the angular resolution of a given region of the 3-D point map is based, at least in part, on an indication of a spatial or temporal frequency of the 3-D point map in the given region, and such that a first region of the scanning zone that includes features organized with a higher spatial or temporal frequency than a second region is scanned with a greater angular resolution than the second region;
• analyze the 3-D point map to identify obstacles in the scanning zone interfering with a current path of the autonomous vehicle;
• determine a modified path of the autonomous vehicle that avoids the identified obstacles than the current path;
• and
• cause the autonomous vehicle to navigate along the modified path.

A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:

• cause a light detection and ranging (LIDAR) device to scan a first region of a scanning zone while emitting light pulses at a first pulse rate and scan a second region of the scanning zone while emitting light pulses at a second pulse rate different from the first pulse rate;
• receive information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of the corresponding returning light pulses;
• determine, based on the time delays and orientations of the LIDAR device associated with each time delay, a three dimensional (3-D) point map, wherein the angular resolution of the 3-D point map, with respect to the LIDAR device, is based on the first pulse rate in the first region and is based on the second pulse rate in the second region;
• cause the LIDAR device to adjust the pulse rate of the LIDAR device throughout the scanning zone according to real-time analysis of the returning light pulses such that the angular resolution of a given region of the 3-D point map is based, at least in part, on an indication of a spatial or temporal frequency of the 3-D point map in the given region, such that a first region of the scanning zone that includes features organized with a higher spatial or temporal frequency than a second region is scanned with a greater angular resolution than the second region;
• analyzing the 3-D point map to identify obstacles in the scanning zone interfering with a current path of an autonomous vehicle associated with the LIDAR device;
• determining a modified path of the autonomous vehicle that avoids the identified obstacles than the current path;
• and
• causing the autonomous vehicle to navigate along the modified path.