公开(公告)号：WO2020263390A1

公开(公告)日：2020-12-30

申请号：PCT/US2020/029260

申请日：2020-04-22

Applicant: WAYMO LLC

Inventor： GASSEND, Blaise ,  SHEPARD, Ralph, H. ,  WATSON, Jason

IPC: G01S17/02 ,  G02B27/09 ,  G02B3/00 ,  G01S7/4911 ,  G01S7/4912

Abstract: Example embodiments relate to beam homogenization for occlusion avoidance. One embodiment includes a light detection and ranging (LIDAR) device. The LIDAR device includes a transmitter and a receiver. The transmitter Includes a light emitter. The light emitter emits light that diverges along a fast-axis and a slow-axis. The transmitter also includes a fast-axis collimation (FAC) lens optically coupled to the light emitter. The FAC lens Is configured to receive light emitted by the light emitter and reduce a divergence of the received light along the fast-axis of the light: emitter to provide reduced-divergence light. The transmitter further includes a transmit lens optically coupled· to the FAC lens. The transmit lens is configured to receive the reduced-divergence light from the FAC lens and provide transmit light. The FAC lens is positioned relative to the light emitter such that the reduced- divergence light is expanded at the transmit lens.

公开(公告)号：WO2022204642A1

公开(公告)日：2022-09-29

申请号：PCT/US2022/070818

申请日：2022-02-24

Applicant: WAYMO LLC

Inventor： WATSON, Jason ,  HALL, Gregory ,  GASSEND, Blaise

IPC: G01B11/27 ,  G01S7/481 ,  G02B7/182 ,  H01S5/183 ,  G02B3/00

Abstract: The present disclosure relates to systems and methods that provide an accurate angle measurement of a rotatable mirror. An example method includes receiving, from a detector device, a reflected light signal. The reflected light signal is indicative of primary reflection light and secondary reflection light. The primary reflection light corresponds to a first portion of emission light that reflects directly from the reflective surface of the rotatable mirror toward the detector device. The secondary reflection light corresponds to a second portion of emission light that: 1) reflects from the reflective surface of the rotatable mirror toward a secondary mirror surface; 2) reflects from the secondary mirror surface toward the reflective surface of the rotatable mirror; and 3) reflects from the reflective surface of the rotatable mirror toward the detector device. The method also includes determining, based on the reflected light signal, the rotational angle of the rotatable mirror.

公开(公告)号：WO2021134037A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/067057

申请日：2020-12-26

Applicant: WAYMO LLC

Inventor： GASSEND, Blaise ,  DUFF, David ,  DROZ, Pierre-Yves ,  KARPLUS, Paul ,  WATSON, Jason ,  BRICKNER, Michael ,  RIVAS, Alex

IPC: G01S7/481 ,  G02B26/12 ,  G01S17/931 ,  G01S7/4813 ,  G01S7/4817 ,  G01S7/4914 ,  G01S7/493

Abstract: The present disclosure relates to devices, lidar systems, and vehicles that include optical redirectors. An example lidar system includes a transmitter and a receiver. The transmitter includes at least one light-emitter device configured to transmit emission light into an environment of the lidar system. The receiver is configured to detect return light from the environment and includes a plurality of apertures, a plurality of photodetectors, and a plurality of optical redirector elements. Each optical redirector element is configured to optically couple a respective portion of return light from a respective aperture to at least one photodetector of the plurality of photodetectors.

公开(公告)号：WO2021134038A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/067058

申请日：2020-12-26

Applicant: WAYMO LLC

Inventor： GASSEND, Blaise ,  WATSON, Jason

IPC: G01S7/481 ,  G01S7/4863 ,  G01S7/4865 ,  G02B26/08 ,  G01S17/931 ,  G01S7/4817 ,  G01S7/484 ,  G01S7/486 ,  G02B26/105

Abstract: The present disclosure relates to systems and methods that utilize an internal optical path in lidar applications. An example method includes causing at least one light-emitter device to emit a plurality of light pulses toward a rotatable mirror. The rotatable mirror (i) reflects at least a first light pulse of the plurality of light pulses into an external environment; and (ii) reflects at least a second light pulse of the plurality of light pulses into an internal optical path. The method also includes receiving, by a photodetector, (i) a reflected light pulse comprising a reflection of the first light pulse caused by an object in the external environment; and (ii) the second light pulse received via the internal optical path. The internal optical path is defined at least in part by one or more internal reflectors that reflect the second light pulse toward the rotatable mirror such that the rotatable mirror reflects the second light pulse toward the photodetector.

公开(公告)号：WO2021226238A1

公开(公告)日：2021-11-11

申请号：PCT/US2021/030892

申请日：2021-05-05

Applicant: WAYMO LLC

Inventor： SCHLEUNING, David ,  DROZ, Pierre-Yves ,  WATSON, Jason ,  DUNPHY, James

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/931

Abstract: Example embodiments relate to crosstalk reduction for light detection and ranging (lidar) devices using wavelength locking. An example embodiment includes a lidar device. The lidar device includes a first light emitter configured to emit a first light signal and a second light emitter configured to emit a second light signal. The Iidar device also includes a first light guide and a second light guide. In addition, the lidar device includes a first light detector and a second light detector. Further, the lidar device includes a first wavelength-locking mechanism configured to use a portion of the first light signal to maintain a wavelength of the first light signal and a second wavelength- locking mechanism configured to use a portion of the second light signal to maintain a wavelength of the second light signal. The wavelengths of the first light signal and the second light signal are different.

公开(公告)号：WO2021134039A1

公开(公告)日：2021-07-01

申请号：PCT/US2020/067059

申请日：2020-12-26

Applicant: WAYMO LLC

Inventor： WATSON, Jason ,  GASSEND, Blaise

IPC: G01S7/497 ,  G01S7/481 ,  G01S17/89 ,  G01S17/931 ,  G02B26/08 ,  G02B27/00 ,  H04N7/18 ,  G06K9/00791 ,  G06T2207/10016 ,  G06T2207/10048 ,  G06T7/246

Abstract: The present disclosure relates to systems and methods for occlusion detection. An example system includes a primary reflective surface and a rotatable mirror configured to rotate about a rotational axis. The rotatable mirror includes a plurality of secondary reflective surfaces. The system also includes an optical element and a camera that is configured to capture at least one image of the optical element by way of the primary reflective surface and at least one secondary reflective surface of the rotatable mirror.