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公开(公告)号：US12248102B2
公开(公告)日：2025-03-11
申请号：US16773409
申请日：2020-01-27
Applicant: Luminar Technologies, Inc.
Inventor： Scott R Campbell , Joseph G. LaChapelle , Jason M. Eichenholz , Austin K. Russell
IPC: G01C3/08 , G01S7/481 , G01S7/484 , G01S7/4861 , G01S7/497 , G01S17/26 , G01S17/89 , G01S17/931
Abstract: A lidar system includes a transmitter that encodes successive transmit pulses with different pulse characteristics and a receiver that detects the pulse characteristics of each received (scattered or reflected) pulse and that distinguishes between the received pulses based on the detected pulse characteristics. The lidar system thus resolves range ambiguities by encoding pulses of scan positions in the same or different scan periods to have different pulse characteristics, such as different pulse widths or different pulse envelope shapes. The receiver includes a pulse decoder configured to detect the relevant pulse characteristics of the received pulse and a resolver that determines if the pulse characteristics of the received pulse matches the pulse characteristics of the current scan position or that of a previous scan position.
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公开(公告)号：US20240053457A1
公开(公告)日：2024-02-15
申请号：US18491935
申请日：2023-10-23
Applicant: Luminar Technologies, Inc.
Inventor： Austin K. Russell , Jason M. Eichenholz , Laurance S. Lingvay
CPC classification number: G01S7/497 , G01S17/58 , G01S7/4868 , G01S7/484 , G01S7/4804
Abstract: To dynamically control power in a lidar system, a controller identifies a triggering event and provides a control signal to a light source in the lidar system adjusting the power of light pulses emitted by the light source. The triggering event includes identifying a particular type of object within a threshold distance of the lidar system. In some scenarios, the power is adjusted to address eye-safety concerns.
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公开(公告)号：US10571567B2
公开(公告)日：2020-02-25
申请号：US15965197
申请日：2018-04-27
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Scott R. Campbell , Jason M. Eichenholz , Austin K. Russell , John G. Hughes
IPC: G01S17/08 , G01S7/481 , G01S17/93 , G02B26/10 , G02B26/12 , H01L27/146 , G01S17/42 , G02B5/09 , G02B7/182 , G01S17/89 , G02B27/09 , G02B27/10 , G02B27/30 , H01L25/16 , G01S17/87 , G02B5/08 , G02B5/18 , G02B5/22
Abstract: A lidar system comprises a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a controller configured to control motion of at least the second mirror to modify the scan pattern. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block. The scanner also includes a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle.
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公开(公告)号：US20200043146A1
公开(公告)日：2020-02-06
申请号：US16196632
申请日：2018-11-20
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Austin K. Russell , Eric C. Danziger
Abstract: A computer-implemented method of detecting object distortion. 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. The method also includes obtaining, based on the sensor data, a point cloud frame representative of the environment and identifying a point cloud object within the point cloud frame. Additionally, the method includes analyzing the point cloud object to identify a feature of the point cloud object that has an expected shape and comparing the feature of the point cloud object to the expected shape. The method also includes identifying that the point cloud object is distorted based on the feature of the point cloud object not matching the expected shape.
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公开(公告)号：US20200041648A1
公开(公告)日：2020-02-06
申请号：US16196597
申请日：2018-11-20
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Eric C. Danziger , Austin K. Russell , Benjamin Englard
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 includes obtaining, by one or more processors, a point cloud frame based on the sensor data and representative of the environment and identifying, by the one or more processors, a point cloud object within the point cloud frame. The method further includes determining, by the one or more processors, that the point cloud object is skewed relative to an expected configuration of the point cloud object, and determining, by the one or more processors, a relative velocity of the point cloud object by analyzing the skew of the object.
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Patent Agency Ranking
公开(公告)号：US10545240B2
公开(公告)日：2020-01-28
申请号：US15917628
申请日：2018-03-10
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Scott R. Campbell , Joseph G. LaChapelle , Jason M. Eichenholz , Austin K. Russell
Abstract: A lidar system includes a transmitter that encodes successive transmit pulses with different pulse characteristics and a receiver that detects the pulse characteristics of each received (scattered or reflected) pulse and that distinguishes between the received pulses based on the detected pulse characteristics. The lidar system thus resolves range ambiguities by encoding pulses of scan positions in the same or different scan periods to have different pulse characteristics, such as different pulse widths or different pulse envelope shapes. The receiver includes a pulse decoder configured to detect the relevant pulse characteristics of the received pulse and a resolver that determines if the pulse characteristics of the received pulse matches the pulse characteristics of the current scan position or that of a previous scan position.
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公开(公告)号：US10539665B1
公开(公告)日：2020-01-21
申请号：US16196618
申请日：2018-11-20
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Eric C. Danziger , Austin K. Russell
IPC: G01S17/00 , G01S7/497 , G01S7/481 , G01S17/02 , G01S17/06 , G01S17/42 , G01S17/87 , G01S17/89 , G01S17/93 , G05D1/02 , G06N20/00 , G01S17/58
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.
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公开(公告)号：US10509127B2
公开(公告)日：2019-12-17
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 , G01S7/40 , G01S7/41 , G01S13/42 , G05D1/00 , G05D1/02 , B60W30/18 , B60W10/04 , G06N3/08 , G01S13/93 , G06K9/62 , G01S17/93 , G06T3/40 , G06T17/05 , G06T17/20 , G01S7/48 , G01S7/481 , G01S17/02 , G06T7/50 , G06K9/42 , G01S17/66 , G06K9/00 , G06T15/08 , G01S7/497 , B60W50/06 , G06T7/20
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.
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公开(公告)号：US10451739B1
公开(公告)日：2019-10-22
申请号：US16196618
申请日：2018-11-20
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Eric C. Danziger , Austin K. Russell
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.
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50.发明申请公开(公告)号：US20190180502A1
公开(公告)日：2019-06-13
申请号：US16176567
申请日：2018-10-31
Applicant: LUMINAR TECHNOLOGIES, INC.
Inventor： Benjamin Englard , Eric C. Danziger , Austin K. Russell
Abstract: A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense an environment through which a vehicle is moving. The point cloud frame includes scan lines arranged according to a particular spatial distribution. The method also includes either generating an enhanced point cloud frame with a larger number of points than the received point cloud frame, or constructing, by one or more processors and based on points of the received point cloud frame, a three-dimensional mesh. The method also includes generating, by performing an interpolation function on the enhanced point cloud frame or a virtual surface provided by the three-dimensional mesh, a normalized point cloud frame, and generating, using the normalized point cloud frame, signals descriptive of a current state of the environment through which the vehicle is moving.
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