公开(公告)号：US20190383916A1

公开(公告)日：2019-12-19

申请号：US16012579

申请日：2018-06-19

Applicant: Waymo LLC

Inventor： Vadim Gutnik ,  Andrew Abo

IPC: G01S7/486 ,  G01S7/487 ,  G01S17/93 ,  G11C27/02 ,  H03M1/44 ,  H03M1/66

Abstract: A LIDAR device includes an input node, an output node, and a sample-and-convert circuit. The input node receives a photodetector signal, and the output node generates an output signal indicating a light intensity value of the photodetector signal. The sample-and-convert circuit includes a number of detection channels coupled in parallel between the input node and the output node. In some aspects, each of the detection channels may be configured to sample a value of the photodetector signal during the sample mode and to hold the sampled value during the convert mode using a single capacitor.

公开(公告)号：US20240085530A1

公开(公告)日：2024-03-14

申请号：US18513609

申请日：2023-11-19

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G01S7/481 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/02

CPC classification number: G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D2201/0213

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US11693098B2

公开(公告)日：2023-07-04

申请号：US17351641

申请日：2021-06-18

Applicant: Waymo LLC

Inventor： Vadim Gutnik ,  Andrew Abo

IPC: G01S7/4861 ,  G01S7/4865 ,  G01S7/487 ,  G01S17/931 ,  H03M1/66 ,  G11C27/02 ,  H03M1/44

CPC classification number: G01S7/4861 ,  G01S7/487 ,  G01S7/4865 ,  G01S17/931 ,  G11C27/028 ,  H03M1/442 ,  H03M1/662

Abstract: A LIDAR device includes an input node, an output node, and a sample-and-convert circuit. The input node receives a photodetector signal, and the output node generates an output signal indicating a light intensity value of the photodetector signal. The sample-and-convert circuit includes a number of detection channels coupled in parallel between the input node and the output node. In some aspects, each of the detection channels may be configured to sample a value of the photodetector signal during the sample mode and to hold the sampled value during the convert mode using a single capacitor.

公开(公告)号：US20220291356A1

公开(公告)日：2022-09-15

申请号：US17828508

申请日：2022-05-31

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Vadim Gutnik

IPC: G01S7/4861 ,  G01J1/44

Abstract: An example circuit includes a light detector and a biasing capacitor having (i) a first terminal that applies to the light detector an output voltage that can either bias or debias the light detector and (ii) a second terminal for controlling the output voltage. The circuit includes a first transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a first voltage level above a biasing threshold of the light detector and thereby biasing the light detector. The circuit includes a second transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a second voltage level below the biasing threshold of the light detector and thereby debiasing the light detector. The second voltage is a non-zero voltage that corresponds to a charge level of the biasing capacitor.

公开(公告)号：US11378663B2

公开(公告)日：2022-07-05

申请号：US16696975

申请日：2019-11-26

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Vadim Gutnik

IPC: G01S7/4861 ,  G01J1/44

Abstract: An example circuit includes a light detector and a biasing capacitor having (i) a first terminal that applies to the light detector an output voltage that can either bias or debias the light detector and (ii) a second terminal for controlling the output voltage. The circuit includes a first transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a first voltage level above a biasing threshold of the light detector and thereby biasing the light detector. The circuit includes a second transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a second voltage level below the biasing threshold of the light detector and thereby debiasing the light detector. The second voltage is a non-zero voltage that corresponds to a charge level of the biasing capacitor.

公开(公告)号：US20210311175A1

公开(公告)日：2021-10-07

申请号：US17351641

申请日：2021-06-18

Applicant: Waymo LLC

Inventor： Vadim Gutnik ,  Andrew Abo

IPC: G01S7/4861 ,  G01S7/4865 ,  G01S7/487 ,  H03M1/66 ,  G11C27/02 ,  H03M1/44 ,  G01S17/931

Abstract: A LIDAR device includes an input node, an output node, and a sample-and-convert circuit. The input node receives a photodetector signal, and the output node generates an output signal indicating a light intensity value of the photodetector signal. The sample-and-convert circuit includes a number of detection channels coupled in parallel between the input node and the output node. In some aspects, each of the detection channels may be configured to sample a value of the photodetector signal during the sample mode and to hold the sampled value during the convert mode using a single capacitor.

公开(公告)号：US10379540B2

公开(公告)日：2019-08-13

申请号：US15295619

申请日：2016-10-17

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G01S7/491 ,  G01S17/89 ,  G05D1/02 ,  G05D1/00 ,  G01S17/02 ,  G01S17/42 ,  G01S17/93 ,  G01S7/481 ,  G01S13/93

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.