公开(公告)号：US12196854B2

公开(公告)日：2025-01-14

申请号：US18099842

申请日：2023-01-20

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Randy R. Reibel ,  James Curry ,  Michelle Milvich ,  Krishna Rupavatharam

IPC: G01S17/32 ,  G01S7/487 ,  G01S17/26 ,  G01S17/42 ,  G01S17/58 ,  G01S7/51

Abstract: Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

公开(公告)号：US12241978B2

公开(公告)日：2025-03-04

申请号：US18320821

申请日：2023-05-19

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Zeb William Barber ,  Emil Kadlec ,  Krishna Rupavatharam

IPC: G01S17/10 ,  G01S17/32 ,  G01S17/931 ,  G05D1/00

Abstract: An autonomous vehicle control system may include one or more processors configured to receive an electrical signal generated based on a returned optical signal that is reflected from an object. The one or more processors may determine a Doppler frequency shift of the returned optical signal over a first duration of the electrical signal. The one or more processors may generate a corrected electrical signal based on the Doppler frequency shift. The one or more processors may determine a range to the object based on the corrected electrical signal over a second duration that is shorter than the first duration. The one or more processors may control at least one of a steering system or a braking system based on the range.