公开(公告)号：US20230408691A1

公开(公告)日：2023-12-21

申请号：US17806629

申请日：2022-06-13

Applicant: Waymo LLC

Inventor： Alex Bogatko ,  Caner Onal ,  Paul Karplus

IPC: G01S17/14 ,  G01S17/894 ,  G01S17/931 ,  G01S17/42 ,  G01S7/481 ,  G01S7/4861

CPC classification number: G01S17/14 ,  G01S17/894 ,  G01S7/4861 ,  G01S17/42 ,  G01S7/4817 ,  G01S17/931

Abstract: Example embodiments relate to light detectors for nearby object detection in light detection and ranging (lidar) devices. An example embodiment includes a lidar device. The lidar device includes a light emitter configured to emit a light signal at a first time. The lidar device also includes a light detector configured to detect the emitted light signal. Additionally, the lidar device includes a biasing circuit configured to modify a detector bias using a bias signal. The bias signal ramps the detector bias from a first bias level at the first time to a second bias level at a second time. The second time is separated from the first time by a ramp duration. The ramp duration is sufficient to prevent any internal feedback within the lidar device caused by the emitted light signal from saturating the light detector or detection circuitry associated with the light detector.

公开(公告)号：US20230194669A1

公开(公告)日：2023-06-22

申请号：US17645615

申请日：2021-12-22

Applicant: Waymo LLC

Inventor： Jason Watson ,  David Duff ,  Justin Andrade ,  Blaise Gassend ,  Alex Bogatko ,  Alex Rivas ,  Michael Brickner ,  Yeh-Jiun Tung ,  Hui Son

IPC: G01S7/481

CPC classification number: G01S7/4813 ,  G01S7/4817 ,  G01S7/4812

Abstract: An example lidar system includes a housing defining an interior space. The housing includes at least one optical window. The lidar system also includes a rotatable mirror assembly disposed within the interior space. The rotatable mirror assembly includes a transmit mirror portion and a receive mirror portion. The lidar system additionally includes a transmitter disposed within the interior space. The transmitter is configured to emit emission light into an environment of the lidar system along a transmit path. The lidar system also includes a receiver disposed within the interior space. The receiver is configured to detect return light that is received from the environment along a receive path. The lidar system additionally includes at least one optical baffle configured to minimize stray light in the interior space.