公开(公告)号：US11536812B2

公开(公告)日：2022-12-27

申请号：US16909788

申请日：2020-06-23

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Chenghui Hao ,  Denis Rainko ,  Ali Haddadpour ,  Roman Dietz

IPC: G01S7/48 ,  G01S7/4865 ,  G01S17/931 ,  G01S17/894

Abstract: This document describes techniques and systems to increase the dynamic range of time-of-flight (ToF) lidar systems. The described lidar system adjusts, based on the energy of a first return pulse, the bias voltage of a photodetector for other return pulses of the object pixel. The bias voltage can be adjusted down for highly-reflective or close-range objects. Similarly, the bias voltage can be increased for low-reflectivity or long-range objects. The ability of the described lidar system to adjust the bias voltage of the photodetector for each object pixel increases the dynamic range of the lidar system without additional hardware or a complex readout. The increased dynamic range allows the described lidar system to maintain a long-range capability, while accurately measuring return-pulse intensity for detecting close-range or highly-reflective objects.

公开(公告)号：US20220011417A1

公开(公告)日：2022-01-13

申请号：US16924079

申请日：2020-07-08

Applicant: Aptiv Technologies Limited

Inventor： Chenghui Hao ,  Michael DeLaus ,  Geng Fu ,  Denis Rainko

IPC: G01S7/4913 ,  G01S17/34 ,  G01S7/4912 ,  G01S7/4911

Abstract: This document describes techniques and systems to vary waveforms across frames in lidar systems. The described lidar system transmits signals with different waveforms for the same pixel of consecutive frames to avoid a return signal overlapping with a noise spike or a frequency component of another return signal. The different waveforms can be formed using different frequency modulations, different amplitude modulations, or a combination thereof for the same pixel of consecutive frames. The lidar system can change the waveform of the transmit signal for the same pixel of a subsequent frame automatically or in response to determining that a signal-to-noise ratio of the return signal of an initial frame is below a threshold value. In this way, the lidar system can increase the signal-to-noise ratios in return signals. These improvements allow the lidar system to increase its accuracy in determining the characteristics of objects that reflected the return signals.

公开(公告)号：US20210247501A1

公开(公告)日：2021-08-12

申请号：US16784062

申请日：2020-02-06

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Chenghui Hao

IPC: G01S7/4865 ,  G01S17/10 ,  G01S17/931 ,  G01S7/4861

Abstract: Techniques and apparatuses are described that implement a low-cost readout module for a lidar system. The low-cost readout module includes a timing readout path and an intensity readout path, which are coupled to a receive channel of the lidar system. The timing readout path generates time-sensitive information using a threshold-triggered timing circuit, which can include a time-to-digital converter. The intensity readout path generates non-time-sensitive information using a hold-and-sample circuit, which can include a hold circuit and an analog-to-digital converter. By utilizing the threshold-triggered timing circuit to provide time-sensitive data and the hold-and-sample circuit to provide non-time-sensitive information, the readout module can have a lower cost than other readout modules that utilize a high-performance analog-to-digital converter for each receive channel.

公开(公告)号：US11802970B2

公开(公告)日：2023-10-31

申请号：US16924027

申请日：2020-07-08

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Denis Rainko ,  Ali Haddadpour ,  Roman Dietz

IPC: G01S7/481 ,  G01S17/894 ,  G01S17/931

CPC classification number: G01S17/894 ,  G01S7/4817 ,  G01S17/931

Abstract: This document describes techniques and systems to alternate power-level scanning for ToF lidar systems. The described lidar system transmits an initial signal having a first power level of an alternating pattern of power levels. The initial signal is associated with an initial pixel of consecutive pixels. The lidar system then transmits a subsequent signal, which is associated with a subsequent pixel of the consecutive pixels, having a second power level. The transmission of the initial signal and the subsequent signal with the alternating pattern of power levels limits a total power level emitted by the lidar system during a time interval to comply with safety regulations. The alternating pattern of power levels also permits the lidar system to switch between a long-detection range and a short-detection range for consecutive pixels.

公开(公告)号：US11774564B2

公开(公告)日：2023-10-03

申请号：US16784062

申请日：2020-02-06

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Chenghui Hao

IPC: G01S7/48 ,  G01S7/4865 ,  G01S17/931 ,  G01S7/4861 ,  G01S17/10

CPC classification number: G01S7/4865 ,  G01S7/4861 ,  G01S17/10 ,  G01S17/931

Abstract: Techniques and apparatuses are described that implement a low-cost readout module for a lidar system. The low-cost readout module includes a timing readout path and an intensity readout path, which are coupled to a receive channel of the lidar system. The timing readout path generates time-sensitive information using a threshold-triggered timing circuit, which can include a time-to-digital converter. The intensity readout path generates non-time-sensitive information using a hold-and-sample circuit, which can include a hold circuit and an analog-to-digital converter. By utilizing the threshold-triggered timing circuit to provide time-sensitive data and the hold-and-sample circuit to provide non-time-sensitive information, the readout module can have a lower cost than other readout modules that utilize a high-performance analog-to-digital converter for each receive channel.

公开(公告)号：US20220011433A1

公开(公告)日：2022-01-13

申请号：US16924027

申请日：2020-07-08

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Denis Rainko ,  Ali Haddadpour ,  Roman Dietz

IPC: G01S17/894 ,  G01S17/931 ,  G01S7/481

Abstract: This document describes techniques and systems to alternate power-level scanning for ToF lidar systems. The described lidar system transmits an initial signal having a first power level of an alternating pattern of power levels. The initial signal is associated with an initial pixel of consecutive pixels. The lidar system then transmits a subsequent signal, which is associated with a subsequent pixel of the consecutive pixels, having a second power level. The transmission of the initial signal and the subsequent signal with the alternating pattern of power levels limits a total power level emitted by the lidar system during a time interval to comply with safety regulations. The alternating pattern of power levels also permits the lidar system to switch between a long-detection range and a short-detection range for consecutive pixels.

公开(公告)号：US20210149031A1

公开(公告)日：2021-05-20

申请号：US17096776

申请日：2020-11-12

Applicant: Aptiv Technologies Limited

Inventor： Roman Dietz ,  Denis Rainko ,  Geng Fu ,  Ali Haddadpour

IPC: G01S7/4911 ,  G01S17/931 ,  G01S17/42 ,  G01S7/4912

Abstract: Described are techniques for processing a laser signal to illuminate an external scene that is sectored in pixels by a laser device. This includes frequency modulating a laser signal in up and down-chirps, illuminating the external scene, receiving a reflected laser signal, measuring an up-beat signal, measuring a down-beat signal, simultaneously illuminating the external scene with the up-chirp and with the down-chirp for at least one pixel, and amplitude modulating the modulated laser signal of at least two adjacent pixels, so that the calculating unit can distinguish the reflected laser signals of two adjacent pixels. This way, in order to allow for fast scanning of a single frame, up- and down-chirps are sent out simultaneously to scan a complete pixel row or line within one ramp without any waiting time and without any chirp reset on each pixel.

公开(公告)号：US11480662B2

公开(公告)日：2022-10-25

申请号：US16788546

申请日：2020-02-12

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Ali Haddadpour ,  Denis Rainko ,  Roman Dietz

IPC: G01S7/484 ,  G01S17/931 ,  G01S17/32 ,  G01S17/58

Abstract: The techniques of this disclosure enable lidar systems to operate as fast-scanning FMCW lidar systems. The fast-scanning lidar system alternates chirp patterns frame by frame as a way to increase scanning speed, without adding additional hardware. Each consecutive pair of frames includes a frame with a long chirp pattern with multiple chirps and a frame with a short chirp pattern with as few as a single chirp, which is derived from the long chirp pattern assuming a constant object velocity between frames. The chirp pattern applied to each pixel is consistent within each frame but different from one frame to the next. The combined duration of two consecutive frames is less than the combined duration of two consecutive frames of a traditional FMCW lidar system that uses the same chirp pattern from one frame to the next. The shorter duration increases frame rate, scanning speed, or overall throughput of the fast-scanning lidar system.

公开(公告)号：US20220011434A1

公开(公告)日：2022-01-13

申请号：US16927499

申请日：2020-07-13

Applicant: Aptiv Technologies Limited

Inventor： Denis Rainko ,  Geng Fu ,  Ali Haddadpour ,  Roman Dietz

IPC: G01S17/894 ,  G01S7/483 ,  G01S7/481

Abstract: This document describes a time-of-flight lidar system configured to process pulse trains instead of individual pulses, for improved range resolution and pixel throughput. Each pulse in the pulse train is output at a respective duration and intensity, which may vary to provoke a return with a high-intensity and low signal ambiguity, prevent thermal build-up, or promote safe ocular operation. An expected intensity of the return as a function of time can be determined. By sampling reflections at the expected times and intensities, the lidar system quickly identifies a corresponding lidar return, even despite lidar noise. A return time of the return can indicate a distance or speed associated with an object pixel in a field-of-view. Processing pulse trains instead of individual pulses allows pixels to be scanned faster than using long durations or frame times, which also promotes ocular safety. Increased throughput is realized using low-energy lasers and inexpensive hardware, which minimize thermal footprint.

公开(公告)号：US20210396857A1

公开(公告)日：2021-12-23

申请号：US16909788

申请日：2020-06-23

Applicant: Aptiv Technologies Limited

Inventor： Geng Fu ,  Chenghui Hao ,  Denis Rainko ,  Ali Haddadpour ,  Roman Dietz

IPC: G01S7/4865 ,  G01S17/931 ,  G01S17/894

Abstract: This document describes techniques and systems to increase the dynamic range of time-of-flight (ToF) lidar systems. The described lidar system adjusts, based on the energy of a first return pulse, the bias voltage of a photodetector for other return pulses of the object pixel. The bias voltage can be adjusted down for highly-reflective or close-range objects. Similarly, the bias voltage can be increased for low-reflectivity or long-range objects. The ability of the described lidar system to adjust the bias voltage of the photodetector for each object pixel increases the dynamic range of the lidar system without additional hardware or a complex readout. The increased dynamic range allows the described lidar system to maintain a long-range capability, while accurately measuring return-pulse intensity for detecting close-range or highly-reflective objects.