公开(公告)号：US09651658B2

公开(公告)日：2017-05-16

申请号：US14671085

申请日：2015-03-27

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-yves Droz

IPC: G01S7/497 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S7/481 ,  G02B27/62

CPC classification number: G01S7/4972 ,  G01S7/4815 ,  G01S7/4817 ,  G01S7/51 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G02B5/20 ,  G02B27/62

Abstract: A method is provided that involves mounting a transmit block and a receive block in a LIDAR device to provide a relative position between the transmit block and the receive block. The method also involves locating a camera at a given position at which the camera can image light beams emitted by the transmit block and can image the receive block. The method also involves obtaining, using the camera, a first image indicative of light source positions of one or more light sources in the transmit block and a second image indicative of detector positions of one or more detectors in the receive block. The method also involves determining at least one offset based on the first image and the second image. The method also involves adjusting the relative position between the transmit block and the receive block based at least in part on the at least one offset.

公开(公告)号：US20160291134A1

公开(公告)日：2016-10-06

申请号：US14679683

申请日：2015-04-06

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zach Morriss ,  Luke Wachter ,  Dorel Ionut Iordach ,  William McCann ,  Daniel Gruver ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S7/48 ,  G01S17/06 ,  G01S17/93 ,  G01S7/481

CPC classification number: G01S7/4802 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/87 ,  G01S17/936 ,  G01S2013/9375 ,  G01S2013/9378 ,  G01S2013/9382 ,  G01S2013/9385

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.

Abstract translation: 描述了与光检测和测距（LIDAR）设备相关的系统和方法。 激光雷达装置包括被配置为发射波长范围内的光的光纤激光器，被配置为以围绕第一轴线往复运动的方式引导发射的光的扫描部分和被配置为感测波长范围内的光的多个检测器。 该装置还包括被配置为接收可以指示对象，位置，位置或角度范围的目标信息的控制器。 响应于接收到目标信息，控制器可以使旋转安装座旋转，以便调节激光雷达的指示方向。 控制器被进一步配置成使激光雷达扫描环境的视场（FOV）。 控制器可以基于来自扫描FOV的数据来确定环境的三维（3D）表示。

公开(公告)号：US20160274589A1

公开(公告)日：2016-09-22

申请号：US15170470

申请日：2016-06-01

Applicant: Google Inc.

Inventor： Bradley Templeton ,  Pierre-yves Droz ,  Jiajun Zhu

IPC: G05D1/02 ,  G01S17/93 ,  G01S17/10 ,  G01S7/486

CPC classification number: G05D1/0231 ,  G01S7/4802 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0213

Abstract: A system and method include scanning a light detection and ranging (LIDAR) device through a range of orientations corresponding to a scanning zone while emitting light pulses from the LIDAR device. The method also includes receiving returning light pulses corresponding to the light pulses emitted from the LIDAR device and determining initial point cloud data based on time delays between emitting the light pulses and receiving the corresponding returning light pulses and the orientations of the LIDAR device. The initial point cloud data has an initial angular resolution. The method includes identifying, based on the initial point cloud data, a reflective feature in the scanning zone and determining an enhancement region and an enhanced angular resolution for a subsequent scan to provide a higher spatial resolution in at least a portion of subsequent point cloud data from the subsequent scan corresponding to the reflective feature.

Abstract translation: 一种系统和方法包括在发射来自激光雷达装置的光脉冲的同时扫描光检测和测距（LIDAR）装置通过与扫描区对应的一系列取向。 该方法还包括接收对应于从激光雷达装置发射的光脉冲的返回光脉冲，并且基于发射光脉冲之间的时间延迟并接收相应的返回光脉冲和激光雷达装置的取向来确定初始点云数据。 初始点云数据具有初始角分辨率。 该方法包括基于初始点云数据识别扫描区域中的反射特征并且确定增强区域和增强的角度分辨率用于随后的扫描以在后续点云数据的至少一部分中提供更高的空间分辨率 从随后的扫描对应于反射特征。

公开(公告)号：US09299731B1

公开(公告)日：2016-03-29

申请号：US14042700

申请日：2013-09-30

Applicant: Google Inc.

Inventor： Samuel William Lenius ,  Pierre-yves Droz

IPC: H01J40/14 ,  G06M7/00 ,  G01C21/02 ,  H01L27/144 ,  G01S17/06

CPC classification number: G01S17/06 ,  B60R2300/301 ,  G01S7/4863 ,  G01S17/89

Abstract: Example systems and methods include a receiving circuit and selectable photodiode circuits. Each selectable photodiode circuit includes (i) a photodiode having a photodiode anode and a photodiode cathode, where the photodiode is configured to generate a selectable input, (ii) a bias voltage source connected to the photodiode cathode, (iii) a connecting resistor connected to the photodiode anode, (iv) a switchable power supply connected to the connecting resistor, where the switchable power supply is configured to operate in a high state and a low state, and (v) a PIN diode having a PIN anode and a PIN cathode, where the PIN cathode is connected to the photodiode anode and the connecting resistor, and the PIN anode is connected to the receiving circuit. The selectable photodiode circuit is configured to provide the selectable input to the receiving circuit only when the switchable power supply operates in the low state.

Abstract translation: 示例系统和方法包括接收电路和可选择的光电二极管电路。 每个可选择的光电二极管电路包括（i）具有光电二极管阳极和光电二极管阴极的光电二极管，其中光电二极管被配置为产生可选择的输入，（ii）连接到光电二极管阴极的偏置电压源，（iii）连接的电阻器 （iv）连接到连接电阻器的可切换电源，其中可切换电源被配置为在高状态和低状态下工作，以及（v）具有PIN阳极和PIN的PIN二极管 阴极，其中PIN阴极连接到光电二极管阳极和连接电阻器，并且PIN阳极连接到接收电路。 可选择的光电二极管电路被配置为仅在可切换电源处于低电平状态时才将可选择的输入提供给接收电路。

公开(公告)号：US09063549B1

公开(公告)日：2015-06-23

申请号：US13787107

申请日：2013-03-06

Applicant: Google Inc.

Inventor： Gaetan Pennecot ,  Pierre-yves Droz ,  Zachary Morriss ,  William McCann

IPC: G05D1/00 ,  G05D1/02 ,  G02B26/10 ,  G01S17/02 ,  G01S17/93

CPC classification number: G05D1/0231 ,  G01S7/4811 ,  G01S7/4817 ,  G01S7/4972 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S17/023 ,  G01S17/026 ,  G01S17/42 ,  G01S17/93 ,  G01S17/936 ,  G02B26/105 ,  G05D1/0257 ,  G05D1/0259

Abstract: A light detection and ranging (LIDAR) device that scans through a scanning zone while emitting light pulses and receives reflected signals corresponding to the light pulses is disclosed. The LIDAR device scans the scanning zone by directing light toward a rotating mirror to direct the light pulses through the scanning zone. The rotating mirror is driven by a conductive coil in the presence of a magnetic field. The conductive coil is coupled to the rotating mirror and arranged in a plane perpendicular to the axis of rotation of the mirror. The axis of rotation of the mirror is oriented substantially parallel to a reflective surface of the mirror and passes between the reflective surface and the conductive coil.

Abstract translation: 公开了一种在发出光脉冲时扫描扫描区域并接收与光脉冲对应的反射信号的光检测和测距（LIDAR）装置。 激光雷达装置通过将光引向旋转镜来扫描扫描区域，以将光脉冲引导通过扫描区域。 在存在磁场的情况下，旋转镜由导电线圈驱动。 导电线圈耦合到旋转镜并且布置在垂直于反射镜的旋转轴线的平面中。 反射镜的旋转轴基本上平行于反射镜的反射表面定向并且在反射表面和导电线圈之间通过。

公开(公告)号：US20140236414A1

公开(公告)日：2014-08-21

申请号：US13772615

申请日：2013-02-21

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Jiajun Zhu

IPC: G05D1/00

CPC classification number: G08G1/161 ,  B60W50/0098 ,  B60W2050/0075 ,  B60W2420/42 ,  B60W2550/308 ,  G01S17/936 ,  G06K9/00805 ,  G08G1/015 ,  G08G1/166

Abstract: A computing device may be configured to receive sensor information indicative of respective characteristics of vehicles on a road of travel of a first vehicle. The computing device may be configured to identify, based on the respective characteristics, a second vehicle that exhibits an aggressive driving behavior manifested as an unsafe or unlawful driving action. Also, based on the respective characteristics, the computing device may be configured to determine a type of the second vehicle. The computing device may be configured to estimate a distance between the first vehicle and the second vehicle. The computing device may be configured to modify a control strategy of the first vehicle, based on the aggressive driving behavior of the second vehicle, the type of the second vehicle, and the distance between the first vehicle and the second vehicle; and control the first vehicle based on the modified control strategy.

Abstract translation: 计算设备可以被配置为接收指示在第一车辆的行驶道路上的车辆的各自特征的传感器信息。 计算设备可以被配置为基于相应的特征来识别呈现为不安全或非法驾驶动作的侵略性驾驶行为的第二车辆。 此外，基于各自的特性，计算装置可以被配置为确定第二车辆的类型。 计算设备可以被配置为估计第一车辆和第二车辆之间的距离。 计算装置可以被配置为基于第二车辆的积极驾驶行为，第二车辆的类型以及第一车辆和第二车辆之间的距离来修改第一车辆的控制策略; 并根据修改的控制策略控制第一辆车。

公开(公告)号：US09618742B1

公开(公告)日：2017-04-11

申请号：US13790934

申请日：2013-03-08

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Drew E. Ulrich

IPC: G01C3/08 ,  G02B26/12 ,  G01S17/02

CPC classification number: G02B26/12 ,  G01S7/4817 ,  G01S17/02 ,  G02B7/181

Abstract: Rotatable mirror assemblies and light detection and ranging systems containing rotatable mirror assemblies are described herein. An example rotatable mirror assembly may include (1) a housing having a top end, a bottom end, and a longitudinal axis intersecting the top and bottom ends, and (2) a set of reflective surfaces, where each reflective surface in the set is coupled to the top end of the housing and the bottom end of the housing such that each reflective surface possesses limited freedom of movement with respect to the housing.

公开(公告)号：US20160282468A1

公开(公告)日：2016-09-29

申请号：US14668452

申请日：2015-03-25

Applicant: Google Inc.

Inventor： Daniel Gruver ,  Pierre-yves Droz ,  Gaetan Pennecot ,  Anthony Levandowski ,  Drew Eugene Ulrich ,  Zachary Morriss ,  Luke Wachter ,  Dorel Ionut Iordache ,  Rahim Pardhan ,  William McCann ,  Bernard Fidric ,  Samuel William Lenius

IPC: G01S17/93 ,  G01S7/483

CPC classification number: G01S17/93 ,  G01C3/02 ,  G01S7/4808 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/023 ,  G01S17/10 ,  G01S17/42 ,  G01S17/66 ,  G01S17/87 ,  G01S17/89 ,  G01S17/936

Abstract: A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.

Abstract translation: 提供一种车辆，其包括位于车辆底部的一个或多个车轮。 车辆还包括位于与底侧相对的车辆顶侧的第一光检测和测距装置（LIDAR）。 第一激光雷达被配置为基于关于轴的第一激光雷达的旋转扫描车辆周围的环境。 第一个激光雷达具有第一个分辨率。 该车辆还包括第二激光雷达装置，其被配置成沿着第二激光雷达的观察方向扫描远离车辆的环境的视场。 第二个激光雷达具有第二个分辨率。 车辆还包括控制器，该控制器被配置为基于第一激光雷达和第二激光雷达对环境的扫描来操作车辆。

公开(公告)号：US09121703B1

公开(公告)日：2015-09-01

申请号：US13916933

申请日：2013-06-13

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Chris Urmson

IPC: G01C3/08

CPC classification number: G01C3/08 ,  G01S7/484 ,  G01S7/497 ,  G01S17/026 ,  G01S17/42 ,  G01S17/87 ,  G01S17/936

Abstract: Example methods and systems for controlling operation of a laser device are provided. A method may include receiving an output of a proximity sensor that is positioned adjacent to a laser device, and determining based on the output of the proximity sensor that an object is within a threshold distance to the laser device. The method may also include based on the laser device emitting laser pulses, providing, by a computing device, instructions to discontinue the emission of laser pulses by the laser device based on the object being within the threshold distance. The method may further include based on the laser device being inactive, providing, by the computing device, instructions to prevent the emission of laser pulses by the laser device based on the object being within the threshold distance.

Abstract translation: 提供了用于控制激光装置的操作的示例性方法和系统。 方法可以包括接收邻近激光装置定位的接近传感器的输出，以及基于接近传感器的输出确定物体在与激光装置的阈值距离之内。 该方法还可以包括基于激光装置发射激光脉冲，由计算装置提供基于目标在阈值距离内的由激光装置中止激光脉冲的发射的指令。 所述方法可以进一步包括基于激光装置处于非活动状态，由计算装置提供用于防止激光装置基于物体在阈值距离内发射激光脉冲的指令。

公开(公告)号：US09059649B1

公开(公告)日：2015-06-16

申请号：US13784412

申请日：2013-03-04

Applicant: Google Inc.

Inventor： Pierre-yves Droz ,  Gaetan Pennecot

IPC: H02K29/08 ,  H02P6/16

CPC classification number: H02P6/16

Abstract: Methods and systems are provided for determining a position of a rotor in a motor at a particular time based on the non-uniform (imperfect) angular position of coils in the motor. In one example, a method may be implemented for light detection and ranging (LIDAR) applications. The method may involve rotating a rotor of a motor at a substantially constant angular velocity, receiving from Hall-effect sensors in the motor data representative of which coils in the plurality of coils are active during the substantially constant rotation of the rotor, correlating a reference angular position of the rotor, receiving subsequent data from the Hall-effect sensors indicating which coils are active at a particular time, correlating the particular time to a position of the rotor in the substantially constant rotation of the rotor, and determining an angular position of the rotor at the particular time.

Abstract translation: 提供了用于基于马达中的线圈的不均匀（不完美）角位置在特定时间确定马达中的转子的位置的方法和系统。 在一个示例中，可以实现用于光检测和测距（LIDAR）应用的方法。 该方法可以包括以基本上恒定的角速度旋转电动机的转子，从马达数据中的霍尔效应传感器接收代表多个线圈中的哪些线圈在转子的基本上恒定的旋转期间是有效的，将参考 转子的角度位置，接收来自霍尔效应传感器的后续数据，指示哪些线圈在特定时间是有效的，将特定时间与转子在转子的基本上恒定的旋转中的位置相关联，并且确定转子的角位置 转子在特定的时间。