公开(公告)号：US11567180B2

公开(公告)日：2023-01-31

申请号：US17556207

申请日：2021-12-20

Applicant: Waymo LLC

Inventor： Michael Marx ,  Pierre-Yves Droz

IPC: G01S7/484 ,  G01S7/491 ,  G01S7/481 ,  G01S17/10

Abstract: One example device comprises a plurality of emitters including at least a first emitter and a second emitter. The first emitter emits light that illuminates a first portion of a field-of-view (FOV) of the device. The second emitter emits light that illuminates a second portion of the FOV. The device also comprises a controller that obtains a scan of the FOV. The controller causes each emitter of the plurality of emitters to emit a respective light pulse during an emission time period associated with the scan. The controller causes the first emitter to emit a first-emitter light pulse at a first-emitter time offset from a start time of the emission time period. The controller causes the second emitter to emit a second-emitter light pulse at a second-emitter time offset from the start time of the emission time period.

公开(公告)号：US11368153B2

公开(公告)日：2022-06-21

申请号：US17039940

申请日：2020-09-30

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Augusto Tazzoli ,  Michael Marx

IPC: G01S7/481 ,  G01S7/484 ,  G01S7/486 ,  G01S17/02 ,  G01S17/10 ,  G01S17/42 ,  H03K17/969 ,  H03K17/0412 ,  H05B45/00

Abstract: An example circuit includes a plurality of light emitters connected in parallel between a first node and a second node. The circuit also includes a plurality of capacitors, with each capacitor corresponding to one of the light emitters, and a plurality of discharge-control switches, with each discharge-control switches corresponding to one of the capacitors. The circuit further includes a pulse-control switch connected to the plurality of light emitters. During a first period, the pulse-control switch restricts current flow, and each of the plurality of capacitors is charged via the first node. During a second period, one or more of the plurality of discharge-control switches allows current flow that discharges one or more corresponding capacitors. During a third period, the pulse-control switch allows current flow that discharges one or more undischarged capacitors of the plurality of capacitors through one or more corresponding light emitters.

公开(公告)号：US20220113378A1

公开(公告)日：2022-04-14

申请号：US17556207

申请日：2021-12-20

Applicant: Waymo LLC

Inventor： Michael Marx ,  Pierre-Yves Droz

IPC: G01S7/484 ,  G01S7/491 ,  G01S7/481

Abstract: One example device comprises a plurality of emitters including at least a first emitter and a second emitter. The first emitter emits light that illuminates a first portion of a field-of-view (FOV) of the device. The second emitter emits light that illuminates a second portion of the FOV. The device also comprises a controller that obtains a scan of the FOV. The controller causes each emitter of the plurality of emitters to emit a respective light pulse during an emission time period associated with the scan. The controller causes the first emitter to emit a first-emitter light pulse at a first-emitter time offset from a start time of the emission time period. The controller causes the second emitter to emit a second-emitter light pulse at a second-emitter time offset from the start time of the emission time period.

公开(公告)号：US20210165094A1

公开(公告)日：2021-06-03

申请号：US17028847

申请日：2020-09-22

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Michael Marx ,  Ethan Stark

IPC: G01S17/10 ,  G01S17/931 ,  G01S7/481 ,  G01S7/484 ,  G01S17/89

Abstract: A light detection and ranging (LIDAR) device includes a light emitter configured to emit light pulses into a field of view and a detector configured to detect light in the field of view. The light emitter emits a first light pulse. The detector detects, during a first measurement period, at least one reflected light pulse that is indicative of reflection by a retroreflector based on a shape of a reflected light pulse, a magnitude of a reflected light pulse, and/or a time separation between two reflected light pulses. In response to detecting the at least one reflected light pulse indicative of reflection by a retroreflector, the light emitter is deactivated for one or more subsequent measurement periods. Additionally, the LIDAR device may inform one or more other LIDAR devices by transmitting to a computing device information indicative of the retroreflector being within the field of view of the light emitter.