公开(公告)号：US11921237B2

公开(公告)日：2024-03-05

申请号：US17828508

申请日：2022-05-31

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Vadim Gutnik

IPC: G01S7/4861 ,  G01J1/44 ,  G01J1/46 ,  G01S17/10 ,  G01S17/894

CPC classification number: G01S7/4861 ,  G01J1/44 ,  G01J1/46 ,  G01J2001/4446 ,  G01J2001/4453 ,  G01S17/10 ,  G01S17/894

Abstract: An example circuit includes a light detector and a biasing capacitor having (i) a first terminal that applies to the light detector an output voltage that can either bias or debias the light detector and (ii) a second terminal for controlling the output voltage. The circuit includes a first transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a first voltage level above a biasing threshold of the light detector and thereby biasing the light detector. The circuit includes a second transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a second voltage level below the biasing threshold of the light detector and thereby debiasing the light detector. The second voltage is a non-zero voltage that corresponds to a charge level of the biasing capacitor.

公开(公告)号：US20230204734A1

公开(公告)日：2023-06-29

申请号：US17646307

申请日：2021-12-29

Applicant: Waymo LLC

Inventor： David Sobel ,  Andrew Abo ,  Vadim Gutnik

IPC: G01S7/489 ,  G01S7/4861 ,  G01S17/931

CPC classification number: G01S7/489 ,  G01S7/4861 ,  G01S17/931

Abstract: An optical receiver includes one or more photodetectors and an analog front end (AFE) configured to accept input signals from the one or more photodetectors. The AFE includes a non-linear gain amplifier (NLGA). The NLGA includes a piecewise linear gain stage configured to apply a piecewise linear transfer function to the input signals to form amplified signals. The AFE also includes a DC offset stage configured to apply a DC offset to the amplified signals. A related method of operation and vehicle are also disclosed.

公开(公告)号：US10243544B1

公开(公告)日：2019-03-26

申请号：US16012509

申请日：2018-06-19

Applicant: Waymo LLC

Inventor： Vadim Gutnik

IPC: H03K5/01 ,  H03K5/08 ,  H03F3/08 ,  G01J1/44 ,  G01S7/486 ,  G01S17/89 ,  G05F3/30

Abstract: This disclosure provides systems, methods and apparatuses for processing analog signals with a wide dynamic range. In some implementations, the analog signal may be a current signal that is logarithmically scaled to decrease its dynamic range and converted to an output voltage using two or more diodes. A first diode may be used to scale a first range of the current signal and a second diode may be used to scale a second range of the current signal.

公开(公告)号：US20180107221A1

公开(公告)日：2018-04-19

申请号：US15295619

申请日：2016-10-17

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G05D1/02 ,  G01S17/89 ,  G01S7/491 ,  G05D1/00

CPC classification number: G05D1/024 ,  G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G01S17/936 ,  G05D2201/0213

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US11067672B2

公开(公告)日：2021-07-20

申请号：US16012579

申请日：2018-06-19

Applicant: Waymo LLC

Inventor： Vadim Gutnik ,  Andrew Abo

IPC: G01S7/486 ,  G01S7/487 ,  G01S17/93 ,  G11C27/02 ,  H03M1/44 ,  H03M1/66 ,  G01S7/4861 ,  G01S7/4865 ,  G01S17/931

Abstract: A LIDAR device includes an input node, an output node, and a sample-and-convert circuit. The input node receives a photodetector signal, and the output node generates an output signal indicating a light intensity value of the photodetector signal. The sample-and-convert circuit includes a number of detection channels coupled in parallel between the input node and the output node. In some aspects, each of the detection channels may be configured to sample a value of the photodetector signal during the sample mode and to hold the sampled value during the convert mode using a single capacitor.

公开(公告)号：US10651835B1

公开(公告)日：2020-05-12

申请号：US16265335

申请日：2019-02-01

Applicant: Waymo LLC

Inventor： Vadim Gutnik

IPC: H03K5/01 ,  H03K5/08 ,  G05F3/30 ,  G01S17/89 ,  G01S7/4861 ,  G01J1/44 ,  H03F3/08

Abstract: This disclosure provides systems, methods and apparatuses for processing analog signals with a wide dynamic range. In some implementations, the analog signal may be a current signal that is logarithmically scaled to decrease its dynamic range and converted to an output voltage using two or more diodes. A first diode may be used to scale a first range of the current signal and a second diode may be used to scale a second range of the current signal.

公开(公告)号：US20190317503A1

公开(公告)日：2019-10-17

申请号：US16453401

申请日：2019-06-26

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G05D1/02 ,  G01S7/481 ,  G01S13/93 ,  G01S7/491 ,  G01S17/93 ,  G01S17/42 ,  G01S17/02 ,  G01S17/89

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US20240085530A1

公开(公告)日：2024-03-14

申请号：US18513609

申请日：2023-11-19

Applicant: Waymo LLC

Inventor： Pierre-Yves Droz ,  Caner Onal ,  William McCann ,  Bernard Fidric ,  Vadim Gutnik ,  Laila Mattos ,  Rahim Pardhan

IPC: G01S7/481 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/02

CPC classification number: G01S7/4813 ,  G01S7/4816 ,  G01S7/4817 ,  G01S7/4818 ,  G01S7/4911 ,  G01S13/931 ,  G01S17/42 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G05D1/024 ,  G05D2201/0213

Abstract: Described herein is a LIDAR device that may include a transmitter, first and second receivers, and a rotating platform. The transmitter may be configured to emit light having a vertical beam width. The first receiver may be configured to detect light at a first resolution while scanning the environment with a first FOV and the second receiver may be configured to detect light at a second resolution while scanning the environment with a second FOV. In this arrangement, the first resolution may be higher than the second resolution, the first FOV may be at least partially different from the second FOV, and the vertical beam width may encompass at least a vertical extent of the first and second FOVs. Further, the rotating platform may be configured to rotate about an axis such that the transmitter and first and second receivers each move based on the rotation.

公开(公告)号：US11693098B2

公开(公告)日：2023-07-04

申请号：US17351641

申请日：2021-06-18

Applicant: Waymo LLC

Inventor： Vadim Gutnik ,  Andrew Abo

IPC: G01S7/4861 ,  G01S7/4865 ,  G01S7/487 ,  G01S17/931 ,  H03M1/66 ,  G11C27/02 ,  H03M1/44

CPC classification number: G01S7/4861 ,  G01S7/487 ,  G01S7/4865 ,  G01S17/931 ,  G11C27/028 ,  H03M1/442 ,  H03M1/662

Abstract: A LIDAR device includes an input node, an output node, and a sample-and-convert circuit. The input node receives a photodetector signal, and the output node generates an output signal indicating a light intensity value of the photodetector signal. The sample-and-convert circuit includes a number of detection channels coupled in parallel between the input node and the output node. In some aspects, each of the detection channels may be configured to sample a value of the photodetector signal during the sample mode and to hold the sampled value during the convert mode using a single capacitor.

公开(公告)号：US20220291356A1

公开(公告)日：2022-09-15

申请号：US17828508

申请日：2022-05-31

Applicant: Waymo LLC

Inventor： Pierre-yves Droz ,  Vadim Gutnik

IPC: G01S7/4861 ,  G01J1/44

Abstract: An example circuit includes a light detector and a biasing capacitor having (i) a first terminal that applies to the light detector an output voltage that can either bias or debias the light detector and (ii) a second terminal for controlling the output voltage. The circuit includes a first transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a first voltage level above a biasing threshold of the light detector and thereby biasing the light detector. The circuit includes a second transistor connected to the second terminal of the biasing capacitor and configured to drive the output voltage to a second voltage level below the biasing threshold of the light detector and thereby debiasing the light detector. The second voltage is a non-zero voltage that corresponds to a charge level of the biasing capacitor.