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    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES
    32.
    发明申请
    DETERMINING DISTORTION BY TRACKING OBJECTS ACROSS SUCCESSIVE FRAMES 审中-公开

    公开(公告)号：US20200041647A1

    公开(公告)日：2020-02-06

    申请号：US16196618

    申请日：2018-11-20

    Applicant: Luminar Technologies, Inc.

    Inventor： Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/58 ,  G01S17/06 ,  G06N20/00 ,  G01S17/93

    Abstract: A computer-implemented method of determining relative velocity between a vehicle and an object. The method includes receiving sensor data generated by one or more sensors of the vehicle. The one or more sensors are configured to sense an environment through which the vehicle is moving by following a scan pattern comprising component scan lines. The method also includes obtaining, based on the sensor data and by one or more processors, two or more point cloud frames representative of the environment and tracking, by the one or more processors, a point cloud object across the two or more point cloud frames. Additionally, the method includes determining, based on the tracking and by the one or more processors, a relative velocity of the point cloud object and correcting, by the one or more processors, the point cloud object based on the relative velocity of the point cloud object.

    Detecting distortion using other sensors
    33.
    发明授权
    Detecting distortion using other sensors 有权

    公开(公告)号：US10345437B1

    公开(公告)日：2019-07-09

    申请号：US16196641

    申请日：2018-11-20

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Austin K. Russell ,  Eric C. Danzinger

    IPC: G01S7/497 ,  G01S17/42 ,  G01S17/93 ,  G05D1/02 ,  G01S17/89

    Abstract: A computer-implemented method of detecting object distortion. The method includes receiving sensor data generated by a plurality of sensors of the vehicle. The plurality of sensors includes a first set of one or more sensors configured to sense an environment by sequentially advancing through a plurality of points in a scan pattern. The plurality of sensors also include a second set of one or more sensors configured to sense the environment by capturing an entirety of the frame at a single time. The method also includes comparing a shape of the point cloud representation of the object to a shape of the object as sensed by the second set of sensors and identifying that the object is distorted based on the shape of the point cloud representation of the object component not matching the shape of the object as sensed by the second set of sensors.

    CONTROLLING VEHICLE SENSORS BASED ON ROAD CONFIGURATION
    34.
    发明申请
    CONTROLLING VEHICLE SENSORS BASED ON ROAD CONFIGURATION 审中-公开

    公开(公告)号：US20190179025A1

    公开(公告)日：2019-06-13

    申请号：US16176607

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger ,  Joseph Augenbraun ,  Austin K. Russell

    IPC: G01S17/89 ,  G01S17/02 ,  G01S7/481 ,  G01S7/48 ,  B60W10/04 ,  G06N3/08

    Abstract: A method for controlling a first sensor configured to sense an environment through which a vehicle is moving includes receiving sensor data generated by one or more sensors of the vehicle as the vehicle moves through the environment, identifying, by one or more processors and based on at least a portion of the received sensor data, one or more road portions along which the vehicle is expected to travel, and determining, by one or more processors, a configuration of the identified road portions, at least in part by determining a slope of at least one of the identified road portions. The method also includes determining, by one or more processors analyzing at least the determined configuration, an elevation of a field of regard of the first sensor that satisfies one or more visibility criteria, and causing the first sensor to be adjusted in accordance with the determined elevation.

    CONTROLLING VEHICLE SENSORS BASED ON DYNAMIC OBJECTS
    35.
    发明申请
    CONTROLLING VEHICLE SENSORS BASED ON DYNAMIC OBJECTS 审中-公开

    公开(公告)号：US20190179023A1

    公开(公告)日：2019-06-13

    申请号：US16176473

    申请日：2018-10-31

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Benjamin Englard ,  Eric C. Danziger ,  Austin K. Russell

    IPC: G01S17/89 ,  G01S17/02 ,  G01S17/66

    Abstract: A method for controlling at least a first vehicle sensor includes receiving sensor data generated by one or more vehicle sensors that are configured to sense an environment through which the vehicle is moving, and identifying, based on the received sensor data, one or more current and/or predicted positions of one or more dynamic objects that are currently moving, or are capable of movement, within the environment. The method also includes causing, based on the current and/or predicted positions of the dynamic objects, an area of focus of the first sensor to be adjusted, at least by causing (i) a field of regard of the first sensor, and/or (ii) a spatial distribution of scan lines produced by the first sensor, to be adjusted.

    Pulse timing based on angle of view
    36.
    发明授权
    Pulse timing based on angle of view 有权

    公开(公告)号：US10267899B2

    公开(公告)日：2019-04-23

    申请号：US15876662

    申请日：2018-01-22

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Matthew D. Weed ,  Scott R. Campbell ,  Lane A. Martin ,  Jason M. Eichenholz ,  Austin K. Russell

    IPC: G01S17/10 ,  G01S7/481 ,  G01S7/484 ,  G01S7/497 ,  G01S17/42 ,  G01S17/93

    Abstract: To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the orientations of the light pulses. For example, the pulse rate may be slower near the front of the lidar system and faster near the periphery. In another example, the pulse rate may be faster near the front of the lidar system and slower near the periphery.

    Adaptive pulse rate in a lidar system
    37.
    发明授权
    Adaptive pulse rate in a lidar system 有权

    公开(公告)号：US10209359B2

    公开(公告)日：2019-02-19

    申请号：US15845552

    申请日：2017-12-18

    Applicant: LUMINAR TECHNOLOGIES, INC.

    Inventor： Austin K. Russell ,  Matthew D. Weed ,  Liam J. McGregor ,  Lane A. Martin ,  Jason M. Eichenholz

    IPC: G01S7/483 ,  G01S17/10

    Abstract: To increase the effective pulse rate of a light source in a lidar system, a controller provides control signals to the light source to transmit a light pulse once the previous light pulse has been received. The controller may communicate with a receiver in the lidar system that detects received light signals. In response to detecting a received light signal, the receiver may provide an indication of the received light signal to the controller which may in turn provide a control signal to the light source to transmit the next light pulse. The receiver may also provide characteristics of the received light signal to the controller, such as the peak power for the received light signal, the average power for the received light signal, the pulse duration of the received light signal, etc. Then the controller may analyze the characteristics to determine whether to transmit another light pulse.

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