公开(公告)号：US11543535B2

公开(公告)日：2023-01-03

申请号：US16750186

申请日：2020-01-23

Applicant: UATC, LLC

Inventor： Dirk John Vandenberg, III ,  James Allen Haslim ,  Thomas Lawrence Smith ,  Adam David Kenvarg

IPC: G01S17/93 ,  G01S17/931 ,  G05D1/02 ,  G01S7/48

Abstract: Aspects of the present disclosure involve systems, methods, and devices for fault detection in a Lidar system. A fault detection system obtains incoming Lidar data output by a Lidar system during operation of an AV system. The incoming Lidar data includes one or more data points corresponding to a fault detection target on an exterior of a vehicle of the AV system. The fault detection system accesses historical Lidar data that is based on data previously output by the Lidar system. The historical Lidar data corresponds to the fault detection target. The fault detection system performs a comparison of the incoming Lidar data with the historical Lidar data to identify any differences between the two sets of data. The fault detection system detects a fault condition occurring at the Lidar system based on the comparison.

公开(公告)号：US11635502B2

公开(公告)日：2023-04-25

申请号：US17030973

申请日：2020-09-24

Applicant: UATC, LLC

Inventor： James Allen Haslim ,  Michael Bryan Borden

IPC: G01S7/499 ,  G01S7/481 ,  B60W30/095 ,  G01S17/931 ,  B60W30/09 ,  B60W60/00 ,  G02B6/27

Abstract: A LIDAR system includes a plurality of LIDAR units. Each of the LIDAR units includes a housing defining a cavity. Each of the LIDAR units further includes a plurality of emitters disposed within the cavity. Each of the plurality of emitters is configured to emit a laser beam. The LIDAR system includes a rotating mirror and a retarder. The retarder is configurable in at least a first mode and a second mode to control a polarization state of a plurality of laser beams emitted from each of the plurality of LIDAR units. The LIDAR system includes a polarizing beam splitter positioned relative to the retarder such that the polarizing beam splitter receives a plurality of laser beams exiting the retarder. The polarizing beam is configured to transmit or reflect the plurality of laser beams exiting the retarder based on the polarization state of the laser beams exiting the retarder.

公开(公告)号：US20230096643A1

公开(公告)日：2023-03-30

申请号：US18076081

申请日：2022-12-06

Applicant: UATC, LLC

Inventor： Dirk John Vandenberg, III ,  James Allen Haslim ,  Thomas Lawrence Smith ,  Adam David Kenvarg

IPC: G01S17/931 ,  G05D1/02 ,  G01S7/48

Abstract: Aspects of the present disclosure involve systems, methods, and devices for fault detection in a Lidar system. A fault detection system obtains incoming Lidar data output by a Lidar system during operation of an AV system. The incoming Lidar data includes one or more data points corresponding to a fault detection target on an exterior of a vehicle of the AV system. The fault detection system accesses historical Lidar data that is based on data previously output by the Lidar system. The historical Lidar data corresponds to the fault detection target. The fault detection system performs a comparison of the incoming Lidar data with the historical Lidar data to identify any differences between the two sets of data. The fault detection system detects a fault condition occurring at the Lidar system based on the comparison.

公开(公告)号：US20220091240A1

公开(公告)日：2022-03-24

申请号：US17030973

申请日：2020-09-24

Applicant: UATC, LLC

Inventor： James Allen Haslim ,  Michael Bryan Borden

IPC: G01S7/499 ,  G01S7/481 ,  G01S17/931 ,  B60W60/00 ,  B60W30/095 ,  B60W30/09

Abstract: A LIDAR system includes a plurality of LIDAR units. Each of the LIDAR units includes a housing defining a cavity. Each of the LIDAR units further includes a plurality of emitters disposed within the cavity. Each of the plurality of emitters is configured to emit a laser beam. The LIDAR system includes a rotating mirror and a retarder. The retarder is configurable in at least a first mode and a second mode to control a polarization state of a plurality of laser beams emitted from each of the plurality of LIDAR units. The LIDAR system includes a polarizing beam splitter positioned relative to the retarder such that the polarizing beam splitter receives a plurality of laser beams exiting the retarder. The polarizing beam is configured to transmit or reflect the plurality of laser beams exiting the retarder based on the polarization state of the laser beams exiting the retarder.

公开(公告)号：US20230251364A1

公开(公告)日：2023-08-10

申请号：US18301503

申请日：2023-04-17

Applicant: UATC, LLC

Inventor： James Allen Haslim ,  Michael Bryan Borden

IPC: G01S7/499 ,  G01S7/481 ,  G01S17/931 ,  B60W30/095 ,  B60W30/09 ,  B60W60/00 ,  G02B6/27

CPC classification number: G01S7/499 ,  G01S7/4817 ,  G01S17/931 ,  B60W30/0956 ,  B60W30/09 ,  B60W60/0027 ,  G02B6/27 ,  B60W2420/62 ,  B60W2420/52

Abstract: A LIDAR system includes a plurality of LIDAR units. Each of the LIDAR units includes a housing defining a cavity. Each of the LIDAR units further includes a plurality of emitters disposed within the cavity. Each of the plurality of emitters is configured to emit a laser beam. The LIDAR system includes a rotating mirror and a retarder. The retarder is configurable in at least a first mode and a second mode to control a polarization state of a plurality of laser beams emitted from each of the plurality of LIDAR units. The LIDAR system includes a polarizing beam splitter positioned relative to the retarder such that the polarizing beam splitter receives a plurality of laser beams exiting the retarder. The polarizing beam is configured to transmit or reflect the plurality of laser beams exiting the retarder based on the polarization state of the laser beams exiting the retarder.

公开(公告)号：US20220146685A1

公开(公告)日：2022-05-12

申请号：US17129962

申请日：2020-12-22

Applicant: UATC, LLC

Inventor： Michael Bryan Borden ,  James Allen Haslim

IPC: G01S17/931 ,  G01S7/481 ,  G01S7/4912 ,  G01S7/4911

Abstract: A LIDAR assembly defining a horizontal axis and a vertical axis is provided. The LIDAR assembly includes a LIDAR unit. The LIDAR unit includes a housing defining a cavity. The LIDAR unit further includes a first plurality of emitters disposed within the cavity and a second plurality of emitters disposed within the cavity. Each of the first plurality of emitters is configured to emit a first laser beam at a first wavelength. Conversely, each of the second plurality of emitters is configured to emit a second laser beam at a second wavelength that is different than the first wavelength. The LIDAR assembly includes an optic positioned outside of the housing. The optic is configured to optically act on the first laser beam and the second laser beam in a different manner to widen a field of view of the LIDAR unit along the vertical axis.

公开(公告)号：US20220035008A1

公开(公告)日：2022-02-03

申请号：US17004712

申请日：2020-08-27

Applicant: UATC, LLC

Inventor： James Allen Haslim ,  Michael Borden ,  Daniel Sing

IPC: G01S7/481 ,  G01S17/931 ,  G01S17/42 ,  G05D1/02

Abstract: A LIDAR unit includes a housing defining a cavity. The LIDAR unit further include a plurality of emitters disposed on a circuit board within the cavity. Each of the emitters emits a laser beam along a transmit path. The LIDAR system further includes a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly. The LIDAR further includes a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly. The first telecentric lens assembly and the second telecentric lens assembly each include a field flattening lens and at least one other lens.

公开(公告)号：US12092744B2

公开(公告)日：2024-09-17

申请号：US17129961

申请日：2020-12-22

Applicant: UATC, LLC

Inventor： Michael Bryan Borden ,  James Allen Haslim

IPC: G01S17/931 ,  G01S7/481 ,  G01S17/894 ,  G02B26/08

CPC classification number: G01S17/931 ,  G01S7/481 ,  G01S17/894 ,  G02B26/0833

Abstract: A LIDAR assembly is provided. The LIDAR assembly includes a LIDAR unit. The LIDAR unit includes a housing defining a cavity. The LIDAR unit further includes a plurality of emitters disposed within the cavity. Each of the plurality of emitters is configured to emit a laser beam. The LIDAR assembly further includes a switchable mirror. The switchable mirror is positioned relative to the LIDAR unit such that the switchable mirror receives a plurality of laser beams exiting the housing of the LIDAR unit. The switchable mirror is configurable in at least a reflective state to direct the plurality of laser beams along a first path and a transmissive state to direct the plurality of laser beams along a second path that is different than the first path to widen a field of view of the LIDAR unit along a first axis.

公开(公告)号：US20210003711A1

公开(公告)日：2021-01-07

申请号：US16750186

申请日：2020-01-23

Applicant: UATC, LLC

Inventor： Dirk John Vandenberg, III ,  James Allen Haslim ,  Thomas Lawrence Smith ,  Adam David Kenvarg

IPC: G01S17/931 ,  G01S7/48 ,  G05D1/02

Abstract: Aspects of the present disclosure involve systems, methods, and devices for fault detection in a Lidar system. A fault detection system obtains incoming Lidar data output by a Lidar system during operation of an AV system. The incoming Lidar data includes one or more data points corresponding to a fault detection target on an exterior of a vehicle of the AV system. The fault detection system accesses historical Lidar data that is based on data previously output by the Lidar system. The historical Lidar data corresponds to the fault detection target. The fault detection system performs a comparison of the incoming Lidar data with the historical Lidar data to identify any differences between the two sets of data. The fault detection system detects a fault condition occurring at the Lidar system based on the comparison.

公开(公告)号：US20230324559A1

公开(公告)日：2023-10-12

申请号：US18313777

申请日：2023-05-08

Applicant: UATC, LLC

Inventor： James Allen Haslim ,  Michael Bryan Borden ,  Daniel Thomas Sing

IPC: G01S17/931 ,  G01S17/06 ,  G01S7/481 ,  G01S17/42 ,  G05D1/02

CPC classification number: G01S17/931 ,  G01S17/06 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4816 ,  G01S7/4817 ,  G01S17/42 ,  G05D1/0212 ,  G05D1/0238 ,  G05D2201/0213

Abstract: A LIDAR unit includes a housing defining a cavity. The LIDAR unit further include a plurality of emitters disposed on a circuit board within the cavity. Each of the emitters emits a laser beam along a transmit path. The LIDAR system further includes a first telecentric lens assembly positioned within the cavity and along the transmit path such that the laser beam emitted from each of the plurality of emitters passes through the first telecentric lens assembly. The LIDAR further includes a second telecentric lens assembly positioned within the cavity and along a receive path such that a plurality of reflected laser beams entering the cavity pass through the second telecentric lens assembly. The first telecentric lens assembly and the second telecentric lens assembly each include a field flattening lens and at least one other lens.