公开(公告)号：US11822016B2

公开(公告)日：2023-11-21

申请号：US17525034

申请日：2021-11-12

Applicant: AEYE, Inc.

Inventor： Luis Dussan ,  Allan Steinhardt ,  Joel Benscoter ,  Todd Gustavson

IPC: G01S7/4863 ,  G01S17/931 ,  G01S7/4865 ,  G01S7/484 ,  G01S17/18 ,  G01S17/894 ,  G01S7/481 ,  G01S17/89 ,  G02B26/08 ,  G02B27/00 ,  H01S3/00 ,  H01S3/067 ,  H01S3/094

CPC classification number: G01S7/4863 ,  G01S7/484 ,  G01S7/4814 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4865 ,  G01S17/18 ,  G01S17/89 ,  G01S17/894 ,  G01S17/931 ,  G02B26/0816 ,  G02B27/0081 ,  H01S3/0071 ,  H01S3/06754 ,  H01S3/094003 ,  H01S3/094038

Abstract: A lidar system comprises (1) an array of pixels for sensing incident light and (2) a circuit for processing a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The circuit can comprise a plurality of matched filters that are tuned to different reflected pulse shapes for detecting pulse reflections within the incident light, and wherein the circuit (1) applies the signal to the matched filters to determine an obliquity for the target based how the matched filters respond to the applied signal and (2) determines a correction angle based on the determined target obliquity, the correction angle for orienting the field of view to a frame of reference in response to a tilting of the lidar system. In an example embodiment, the circuit can comprise a signal processing circuit that performs the signal application and correction angle determination operations. In another example embodiment, the circuit can comprise (1) a signal processing circuit that performs the signal application operation and (2) a receiver controller circuit that performs the correction angle determination operation.

公开(公告)号：US20230251355A1

公开(公告)日：2023-08-10

申请号：US18134222

申请日：2023-04-13

Applicant: AEYE, Inc.

Inventor： Philippe Feru ,  Luis Dussan ,  Joel Benscoter ,  IL WOONG Jung ,  Alex Liang ,  Igor Polishchuk ,  Allan Steinhardt

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

CPC classification number: G01S7/4817 ,  G01S7/4814 ,  G01S7/484 ,  G01S17/10 ,  G01S17/931

Abstract: A lidar system that includes a laser source and a scannable mirror can also include a circuit that schedules a variable rate firing of a plurality of upcoming laser pulse shots by the laser source using a laser energy model as compared to a plurality of energy requirements applicable to the upcoming laser pulse shots, and wherein the laser energy model takes into consideration a retention of energy in the laser source after the upcoming laser pulse shots are fired and quantitatively predicts available energy amounts for the upcoming laser pulse shots from the laser source based on a history of prior laser pulse shots by the laser source. The laser energy model is capable of modeling the energy available for laser pulse shots in the laser source over very short time intervals (such as 10-100 nanoseconds).

公开(公告)号：US11686845B2

公开(公告)日：2023-06-27

申请号：US17490231

申请日：2021-09-30

Applicant: AEYE, Inc.

Inventor： Naveen Reddy ,  Allan Steinhardt ,  Luis Dussan ,  Joel Benscoter ,  Alex Liang ,  Philippe Feru ,  Igor Polishchuk

IPC: G01S7/484 ,  G01S7/481 ,  G01S7/4863 ,  G01S17/36 ,  G01S7/497 ,  G01J1/44 ,  G01S17/00 ,  G01S17/18 ,  B60W40/02 ,  G01S17/931 ,  G01S7/4865 ,  G01S17/89 ,  G01J1/42 ,  B60R1/12 ,  G01S17/10 ,  G01J1/02 ,  G01S17/86

CPC classification number: G01S17/36 ,  B60R1/12 ,  B60W40/02 ,  G01J1/42 ,  G01J1/44 ,  G01S7/484 ,  G01S7/4811 ,  G01S7/4813 ,  G01S7/4814 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/497 ,  G01S17/003 ,  G01S17/10 ,  G01S17/18 ,  G01S17/89 ,  G01S17/931 ,  B60R2001/1223 ,  G01J1/029 ,  G01J2001/4238 ,  G01S17/86

Abstract: A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can define the detection intervals based on a region in the field of view that a laser pulse shot is targeting (e.g., setting longer detection intervals for laser pulse shots targeting a horizon region, setting shorter detection intervals for laser pulse shots targeting a region that intersects within the ground within a relatively short distance of the lidar system).

公开(公告)号：US11675059B2

公开(公告)日：2023-06-13

申请号：US17482983

申请日：2021-09-23

Applicant: AEYE, Inc.

Inventor： Philippe Feru ,  Luis Dussan ,  Joel Benscoter ,  Il Woong Jung ,  Alex Liang ,  Igor Polishchuk ,  Allan Steinhardt

IPC: G01S7/48 ,  G01S7/484 ,  G01S17/89 ,  G01S7/481 ,  G01S17/10 ,  G01S17/42 ,  G01S17/931

CPC classification number: G01S7/484 ,  G01S7/4814 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/10 ,  G01S17/42 ,  G01S17/89 ,  G01S17/931

Abstract: A lidar system that includes a laser source can be controlled to schedule the firing of laser pulse shots at range points in a field of view. As part of this scheduling, the system can prioritize which elevations will be targeted with shots before other elevations based on defined criteria. Examples of such criteria can include prioritizing elevations corresponding to a horizon, prioritizing elevations which contain objects of interest (e.g., nearby objects, fast moving objects, objects heading toward the lidar system, etc).

公开(公告)号：US20230044929A1

公开(公告)日：2023-02-09

申请号：US17554256

申请日：2021-12-17

Applicant: AEYE, Inc.

Inventor： Joel Benscoter ,  Luis Dussan ,  Allan Steinhardt ,  Philippe Feru ,  Igor Polishchuk

IPC: G01S7/481 ,  G01S7/4863 ,  G01S7/484

Abstract: A lidar system comprising (1) a first lens having a first field of view (FOV) that receives incident light from the first FOV, (2) a second lens having a second FOV that receives incident light from the second FOV, wherein the second field of view is encompassed by and narrower than the first FOV, and (3) photodetector circuitry that senses incident light passed by the first and second lenses. The photodetector circuitry can include multiple channels of readout circuitry for reading out (1) a first return signal in a first of the channels for detecting a return from a laser pulse shot that targets a location in the second FOV, wherein the first return signal is based on incident light passed by the first lens, and (2) a second return signal in a second of the channels for detecting the return, wherein the second return signal is based on incident light passed by the second lens.

公开(公告)号：US11467263B1

公开(公告)日：2022-10-11

申请号：US17520189

申请日：2021-11-05

Applicant: AEYE, Inc.

Inventor： Jordan Greene ,  Joel Benscoter ,  Luis Dussan ,  Allan Steinhardt ,  Philippe Feru ,  Igor Polishchuk ,  Alex Liang

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

Abstract: A lidar system comprises an optical amplification laser source, a mirror, and a control circuit. The optical amplification laser source can generate laser pulses for transmission as laser pulses shots into a field of view, the optical amplification laser source comprising a seed laser, a pump laser, and an optical amplifier. The mirror can be is scannable to control where the laser pulse shots are fired into the field of view, and the control circuit can control the seed laser to adjust its seed energy to control energy levels for a first laser pulse shot and a second laser pulse shot within a pulse burst to be transmitted from the optical amplification laser source via the mirror.

公开(公告)号：US20220317249A1

公开(公告)日：2022-10-06

申请号：US17520213

申请日：2021-11-05

Applicant: AEYE, Inc.

Inventor： Jordan Greene ,  Joel Benscoter ,  Luis Dussan ,  Allan Steinhardt ,  Philippe Feru ,  Igor Polishchuk ,  Alex Liang

IPC: G01S7/484 ,  G01S17/42 ,  G01S7/48 ,  G01S7/481

Abstract: A lidar system comprises (1) a lidar transmitter that switches from a baseline scan pattern to a pulse burst mode in response to a detection of a target in a field of view for the lidar transmitter, wherein the lidar transmitter transmits a pulse burst toward the target when in the pulse burst mode, and (2) a lidar receiver that refines an angle to the target based on returns from the pulse burst.

公开(公告)号：US11460553B1

公开(公告)日：2022-10-04

申请号：US17483008

申请日：2021-09-23

Applicant: AEYE, Inc.

Inventor： Philippe Feru ,  Luis Dussan ,  Joel Benscoter ,  Alex Liang ,  Igor Polishchuk ,  Allan Steinhardt

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

Abstract: A lidar system that includes a laser source and a scannable mirror can be controlled to schedule the firing of laser pulse shots at range points in a field of view. A first mirror motion model can be used to govern the scheduling of the laser pulse shots, and a second mirror motion model can be used to govern when firing commands are to be generated for the scheduled laser pulse shots. The first and second mirror motion models model motion of the scannable mirror over time. A system controller can use the first mirror motion model as a coarse mirror motion model for the purpose of shot scheduling, while a beam scanner controller can use the second mirror motion model as a fine mirror motion model for the purposes of generating firing commands for the laser source.

公开(公告)号：US11460552B1

公开(公告)日：2022-10-04

申请号：US17482882

申请日：2021-09-23

Applicant: AEYE, Inc.

Inventor： Philippe Feru ,  Luis Dussan ,  Joel Benscoter ,  Alex Liang ,  Igor Polishchuk ,  Allan Steinhardt

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

Abstract: A lidar system that includes a variable energy laser source and transmits laser pulses produced by the variable energy laser source toward range points in a field of view can use a laser energy model to model the available energy in the variable energy laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling a variable rate of energy buildup in the variable energy laser source per unit time.

公开(公告)号：US20220308219A1

公开(公告)日：2022-09-29

申请号：US17490221

申请日：2021-09-30

Applicant: AEYE, Inc.

Inventor： Naveen Reddy ,  Allan Steinhardt ,  Luis Dussan ,  Joel Benscoter ,  Alex Liang ,  Philippe Feru ,  Igor Polishchuk

IPC: G01S17/36 ,  G01S7/484 ,  G01S7/481 ,  G01S7/497 ,  B60W40/02

Abstract: A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can use data indicative of environmental conditions for the lidar receiver's field of view to define the detection intervals.