公开(公告)号：US12146967B2

公开(公告)日：2024-11-19

申请号：US17568360

申请日：2022-01-04

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Angus ,  Michelle Milvich

IPC: G01S17/931 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S7/481 ,  G01S7/493 ,  G01S17/32 ,  G01S17/58 ,  G01S17/89 ,  G01S17/894 ,  G02B6/26 ,  G02B26/10 ,  G02B26/12

Abstract: An autonomous vehicle includes a LIDAR system that includes a waveguide array, a collimator configured to receive a plurality of beams from the waveguide array and output a plurality of collimated beams, and a scanner configured to adjust a direction of the plurality of collimated beams. The vehicle also includes one or more processors configured to determine a range to an object based on a return signal received from reflection or scattering of the plurality of collimated beams by the object and to control operation of at least one of a steering system or the braking system based on the range.

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：US11953677B2

公开(公告)日：2024-04-09

申请号：US17066077

申请日：2020-10-08

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Joseph Angus ,  Michelle Milvich

IPC: G02B26/12 ,  G01S7/481 ,  G01S13/42 ,  G01S17/00 ,  G01S17/02 ,  G01S17/88 ,  G01S17/931 ,  G01S17/933

CPC classification number: G02B26/123 ,  G01S7/4817 ,  G01S17/02 ,  G01S17/931 ,  G01S7/481 ,  G01S13/426 ,  G01S13/428 ,  G01S17/00 ,  G01S17/88 ,  G01S17/933 ,  G02B26/129

Abstract: An apparatus include a motor, a first scanner, and a second scanner. The first scanner is coupled to the motor, and the motor is configured to rotate the first scanner at a first angular velocity about a rotation axis to deflect a first beam incident in a third plane on the first scanner into a first plane different from the third plane. The second scanner is coupled to the motor, and the motor is configured to rotate the second scanner at a second angular velocity different from the first angular velocity about the rotation axis to deflect a second beam incident in the third plane on the second scanner into a second plane different from the third plane.

公开(公告)号：US20250035791A1

公开(公告)日：2025-01-30

申请号：US18910994

申请日：2024-10-09

Applicant: Aurora Operations, Inc.

Inventor： Stephen C. Crouch ,  Edward Angus ,  Michelle Milvich

IPC: G01S17/931 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W30/095 ,  B60W60/00 ,  G01S7/481 ,  G01S7/493 ,  G01S17/32 ,  G01S17/58 ,  G01S17/89 ,  G01S17/894 ,  G02B6/26 ,  G02B26/10 ,  G02B26/12

Abstract: An autonomous vehicle includes a LIDAR system that includes a waveguide array, a collimator configured to receive a plurality of beams from the waveguide array and output a plurality of collimated beams, and a scanner configured to adjust a direction of the plurality of collimated beams. The vehicle also includes one or more processors configured to determine a range to an object based on a return signal received from reflection or scattering of the plurality of collimated beams by the object and to control operation of at least one of a steering system or the braking system based on the range.