公开(公告)号：US20200241121A1

公开(公告)日：2020-07-30

申请号：US16851987

申请日：2020-04-17

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/4865 ,  G01S17/10 ,  G01S17/42 ,  G01S17/931

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

公开(公告)号：US20190195990A1

公开(公告)日：2019-06-27

申请号：US15852788

申请日：2017-12-22

Applicant: Waymo LLC

Inventor： Mark Alexander Shand

IPC: G01S7/484 ,  G01S17/89 ,  G01S7/481 ,  G01S17/93 ,  G01S7/486

CPC classification number: G01S7/484 ,  G01S7/4813 ,  G01S7/4815 ,  G01S7/4861 ,  G01S17/89 ,  G01S17/936

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.